From 0028ba16b7260063dfd61ce7dba5a127896986f4 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Sun, 19 Oct 2025 16:06:48 +0800 Subject: [PATCH] 123 --- .vscode/settings.json | 3 +- MDK-ARM/DveC.uvguix.yxm23 | 224 +- MDK-ARM/DveC.uvoptx | 134 +- MDK-ARM/DveC.uvprojx | 44 +- MDK-ARM/DveC/DveC.axf | Bin 530056 -> 547888 bytes MDK-ARM/DveC/DveC.build_log.htm | 6 +- MDK-ARM/DveC/DveC.hex | 6321 ++++++++++++++++--------------- MDK-ARM/DveC/DveC.htm | 2116 ++++++----- MDK-ARM/DveC/DveC.lnp | 9 +- MDK-ARM/DveC/DveC.map | 4340 ++++++++++----------- MDK-ARM/DveC/DveC_DveC.dep | 364 +- MDK-ARM/DveC/at9s_pro_cmd.o | Bin 4504 -> 3936 bytes MDK-ARM/DveC/atti_esti.o | Bin 7972 -> 8220 bytes MDK-ARM/DveC/cmd_1.d | 20 + MDK-ARM/DveC/cmd_1.o | Bin 0 -> 5068 bytes MDK-ARM/DveC/config.d | 11 +- MDK-ARM/DveC/config.o | Bin 2068 -> 3704 bytes MDK-ARM/DveC/height_cal.d | 1 + MDK-ARM/DveC/height_cal.o | Bin 3368 -> 3452 bytes MDK-ARM/DveC/init.d | 5 +- MDK-ARM/DveC/init.o | Bin 2768 -> 3016 bytes MDK-ARM/DveC/main_control.d | 3 +- MDK-ARM/DveC/main_control.o | Bin 2488 -> 2484 bytes MDK-ARM/DveC/quad_ctrl.d | 20 + MDK-ARM/DveC/quad_ctrl.o | Bin 0 -> 7572 bytes MDK-ARM/DveC/user_task.o | Bin 6236 -> 6364 bytes MDK-ARM/DveC/xm_quadctrl.d | 44 +- MDK-ARM/DveC/xm_quadctrl.o | Bin 588 -> 20936 bytes User/component/cmd.c | 387 -- User/component/cmd.h | 318 -- User/module/at9s_pro_cmd.c | 22 +- User/module/at9s_pro_cmd.h | 19 +- User/module/config.c | 103 + User/module/config.h | 4 +- User/module/xm_quadctrl.c | 525 +-- User/module/xm_quadctrl.h | 190 +- User/task/atti_esti.c | 5 +- User/task/cmd.c | 63 + User/task/config.yaml | 21 +- User/task/height_cal.c | 45 +- User/task/init.c | 9 +- User/task/main_control.c | 135 - User/task/quad_ctrl.c | 50 + User/task/user_task.c | 14 +- User/task/user_task.h | 41 +- 45 files changed, 7783 insertions(+), 7833 deletions(-) create mode 100644 MDK-ARM/DveC/cmd_1.d create mode 100644 MDK-ARM/DveC/cmd_1.o create mode 100644 MDK-ARM/DveC/quad_ctrl.d create mode 100644 MDK-ARM/DveC/quad_ctrl.o delete mode 100644 User/component/cmd.c delete mode 100644 User/component/cmd.h create mode 100644 User/task/cmd.c delete mode 100644 User/task/main_control.c create mode 100644 User/task/quad_ctrl.c diff --git a/.vscode/settings.json b/.vscode/settings.json index 75a7798..04d696e 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,6 +1,7 @@ { "files.associations": { "fixed_height.h": "c", - "ahrs.h": "c" + "ahrs.h": "c", + "xm_quadctrl.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/DveC.uvguix.yxm23 b/MDK-ARM/DveC.uvguix.yxm23 index 306e35d..ee3682f 100644 --- a/MDK-ARM/DveC.uvguix.yxm23 +++ b/MDK-ARM/DveC.uvguix.yxm23 @@ -28,17 +28,17 @@ 38003 Registers - 124 100 + 124 79 346 Code Coverage - 877 386 + 877 160 204 Performance Analyzer - 1037 155 155 100 + 1037 @@ -114,17 +114,17 @@ -1 - 236 - 477 - 1522 - 1035 + 138 + 395 + 1440 + 939 0 - 1949 - 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898 @@ -3616,138 +3616,30 @@ 0 100 - 21 - - ..\User\BarometerDriver\user_iic.c - 16 - 104 - 136 - 1 - - 0 - - - ..\User\BarometerDriver\user_iic.h - 0 - 1 - 18 - 1 - - 0 - - - ..\User\BarometerDriver\spl06.c - 37 - 4 - 5 - 1 - - 0 - - - ..\User\bsp\i2c.c - 16 - 83 - 106 - 1 - - 0 - - - startup_stm32f407xx.s - 0 - 164 - 174 - 0 - - 0 - - - ../Core/Src/main.c - 0 - 64 - 72 - 1 - - 0 - - - ..\User\module\HeightEstimation.c - 57 - 31 - 57 - 1 - - 0 - - - ..\User\module\HeightEstimation.h - 85 - 1 - 11 - 1 - - 0 - - - ..\User\module\xm_quadctrl.c - 13 - 239 - 262 - 1 - - 0 - - - ..\User\module\config.c - 0 - 1 - 1 - 1 - - 0 - + 8 ..\User\module\at9s_pro_cmd.c - 0 - 30 - 1 + 4 + 23 + 45 1 0 - ..\User\module\at9s_pro_cmd.h - 0 - 1 - 1 + ..\User\task\quad_ctrl.c + 22 + 18 + 45 1 0 - ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c - 11 - 943 - 881 - 1 - - 0 - - - ..\User\task\height_cal.c - 0 - 21 - 21 - 1 - - 0 - - - ..\User\component\filter.h - 0 - 1 - 1 + ..\User\module\xm_quadctrl.h + 4 + 69 + 80 1 0 @@ -3755,62 +3647,62 @@ ..\User\component\AltitudeKalman.c 21 - 6 + 1 27 1 0 - ..\User\bsp\time.c - 0 - 24 - 32 + ..\User\module\at9s_pro_cmd.h + 17 + 7 + 31 1 0 - ..\User\component\AltitudeKalman.h - 19 + ..\User\task\cmd.c + 11 1 - 17 - 1 - - 0 - - - ..\User\task\init.c - 24 - 14 - 36 + 22 1 0 ..\User\task\atti_esti.c - 11 - 127 - 61 - 1 - - 0 - - - ..\User\task\user_task.c 0 - 4 - 1 + 130 + 156 1 0 - ..\User\task\rc.c - 30 - 22 - 49 + ..\User\task\user_task.h + 8 + 31 + 53 + 1 + + 0 + + + ..\User\task\init.c + 23 + 19 + 37 + 1 + + 0 + + + ..\User\module\HeightEstimation.c + 53 + 65 + 88 1 0 diff --git a/MDK-ARM/DveC.uvoptx b/MDK-ARM/DveC.uvoptx index f986ce3..9ee7789 100644 --- a/MDK-ARM/DveC.uvoptx +++ b/MDK-ARM/DveC.uvoptx @@ -132,10 +132,6 @@ ARMDBGFLAGS - - 0 - DLGUARM - 0 JL2CM3 @@ -1010,7 +1006,7 @@ User/device - 0 + 1 0 0 0 @@ -1281,30 +1277,6 @@ 0 0 0 - ..\User\component\cmd.c - cmd.c - 0 - 0 - - - 9 - 83 - 5 - 0 - 0 - 0 - ..\User\component\cmd.h - cmd.h - 0 - 0 - - - 9 - 84 - 1 - 0 - 0 - 0 ..\User\component\AltitudeKalman.c AltitudeKalman.c 0 @@ -1312,7 +1284,7 @@ 9 - 85 + 83 5 0 0 @@ -1332,7 +1304,7 @@ 0 10 - 86 + 84 1 0 0 @@ -1344,7 +1316,7 @@ 10 - 87 + 85 5 0 0 @@ -1356,7 +1328,7 @@ 10 - 88 + 86 1 0 0 @@ -1368,7 +1340,7 @@ 10 - 89 + 87 5 0 0 @@ -1380,7 +1352,7 @@ 10 - 90 + 88 1 0 0 @@ -1392,7 +1364,7 @@ 10 - 91 + 89 5 0 0 @@ -1404,7 +1376,7 @@ 10 - 92 + 90 1 0 0 @@ -1416,7 +1388,7 @@ 10 - 93 + 91 5 0 0 @@ -1436,31 +1408,7 @@ 0 11 - 94 - 1 - 0 - 0 - 0 - ..\User\task\atti_esti.c - atti_esti.c - 0 - 0 - - - 11 - 95 - 1 - 0 - 0 - 0 - ..\User\task\height_cal.c - height_cal.c - 0 - 0 - - - 11 - 96 + 92 1 0 0 @@ -1472,19 +1420,7 @@ 11 - 97 - 1 - 0 - 0 - 0 - ..\User\task\main_control.c - main_control.c - 0 - 0 - - - 11 - 98 + 93 1 0 0 @@ -1496,7 +1432,7 @@ 11 - 99 + 94 5 0 0 @@ -1508,7 +1444,7 @@ 11 - 100 + 95 1 0 0 @@ -1520,13 +1456,49 @@ 11 - 101 + 96 1 0 0 0 - ..\User\task\rc.c - rc.c + ..\User\task\cmd.c + cmd.c + 0 + 0 + + + 11 + 97 + 1 + 0 + 0 + 0 + ..\User\task\atti_esti.c + atti_esti.c + 0 + 0 + + + 11 + 98 + 1 + 0 + 0 + 0 + ..\User\task\height_cal.c + height_cal.c + 0 + 0 + + + 11 + 99 + 1 + 0 + 0 + 0 + ..\User\task\quad_ctrl.c + quad_ctrl.c 0 0 diff --git a/MDK-ARM/DveC.uvprojx b/MDK-ARM/DveC.uvprojx index 32f33cc..3572fe2 100644 --- a/MDK-ARM/DveC.uvprojx +++ b/MDK-ARM/DveC.uvprojx @@ -828,16 +828,6 @@ 5 ..\User\component\user_math.h - - cmd.c - 1 - ..\User\component\cmd.c - - - cmd.h - 5 - ..\User\component\cmd.h - AltitudeKalman.c 1 @@ -898,26 +888,11 @@ User/task - - atti_esti.c - 1 - ..\User\task\atti_esti.c - - - height_cal.c - 1 - ..\User\task\height_cal.c - init.c 1 ..\User\task\init.c - - main_control.c - 1 - ..\User\task\main_control.c - user_task.c 1 @@ -934,9 +909,24 @@ ..\User\task\blink.c - rc.c + cmd.c 1 - ..\User\task\rc.c + ..\User\task\cmd.c + + + atti_esti.c + 1 + ..\User\task\atti_esti.c + + + height_cal.c + 1 + ..\User\task\height_cal.c + + + quad_ctrl.c + 1 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z=oa{c&546)hW8o$9q_YT68&7m*O~zDgHL@f(Jwb_%h+RZZL8P*x2KK3UV^Rg1PtaG z4|l=;hU*&sD_nDH62NC3S1uv|^tRfa0XJ~$n;0I7f9yZujt7F77}#NRH~0W71L?1V zJ8w&t*=~UC9?v{V@y)Q^4_E{H>G0;~<7%v%&v(N+VO=BfVz}1}(fA^a1dkvX8w(m05Lm%{YIQ3RU6?L!`gvoS10 z&B08GjmtnRGWe^ zV`;s;Jj3|Q#NIHNWEQY(>GmG&9gEObxnP8 zn)9A``-1sZ-BLBHWZvwZT9kS9>PmT;l0K;_df)t_KB-}wPV`A-Wo4>fmAWX?|Eg3e z-^xoZ-1KqZRFz6ma=yGa)h9D-V5&~dC?ylhr6hClz|YKN- z)s|O}F-t-_q(=-AAM`u(Ss6@n2rXDVIC?}BQTg1kPN zmi(^RX>e{ZC^O)?RHK#;OwSG0_2J3oAP9a>QB`TmYR%GtEPCw<|y9e_pX@=mRno?W|`mr4@LxgbpQYW diff --git a/MDK-ARM/DveC/DveC.build_log.htm b/MDK-ARM/DveC/DveC.build_log.htm index 44af49f..5742df6 100644 --- a/MDK-ARM/DveC/DveC.build_log.htm +++ b/MDK-ARM/DveC/DveC.build_log.htm @@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0

Project:

D:\CUBEMX\Quadcopter\DveC\MDK-ARM\DveC.uvprojx -Project File Date: 10/17/2025 +Project File Date: 10/19/2025

Output:

*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' @@ -31,9 +31,9 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'DveC\gpio.o' Note: source file '..\User\bsp\i2c.c' - object file renamed from 'DveC\i2c.o' to 'DveC\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'DveC\spi.o' to 'DveC\spi_1.o'. Note: source file '..\User\BarometerDriver\spl06.c' - object file renamed from 'DveC\spl06.o' to 'DveC\spl06_1.o'. -compiling rc.c... +Note: source file '..\User\task\cmd.c' - object file renamed from 'DveC\cmd.o' to 'DveC\cmd_1.o'. linking... -Program Size: Code=48104 RO-data=1196 RW-data=32 ZI-data=32048 +Program Size: Code=50488 RO-data=1244 RW-data=320 ZI-data=33160 FromELF: creating hex file... "DveC\DveC.axf" - 0 Error(s), 0 Warning(s). diff --git a/MDK-ARM/DveC/DveC.hex b/MDK-ARM/DveC/DveC.hex index 203d8a2..08306ab 100644 --- a/MDK-ARM/DveC/DveC.hex +++ b/MDK-ARM/DveC/DveC.hex @@ -1,3087 +1,3244 @@ :020000040800F2 -:10000000507D002029020008715100089544000825 -:100010006D51000841190008F1650008000000005A -:10002000000000000000000000000000215A00084D -:10003000C91F000800000000D1530008895A0008B9 -:10004000430200084302000843020008430200087C -:10005000430200084302000843020008430200086C -:1000600043020008CD1F0008D91F00084302000802 -:10007000AD1E0008BD1E0008430200084302000830 -:10008000430200084302000843020008430200083C -:10009000430200084302000843020008E51F00086D -:1000A000430200084302000843020008430200081C -:1000B000430200084302000843020008430200080C -:1000C00043020008430200084302000843020008FC -:1000D00043020008430200084302000843020008EC -:1000E00043020008430200084302000843020008DC -:1000F00043020008430200084302000843020008CC -:1001000043020008430200084302000843020008BB 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+:10C9B0000000000064656661756C745461736B00FF +:10C9C000636D6400617474695F6573746900626C9F +:10C9D000696E6B006865696768745F63616C00719C +:10C9E0007561645F6374726C005461736B5F496E50 +:10C9F0006974000018CA000800000020400100000F +:10CA0000C401000890CA000840010020888100008D +:10CA10002002000800000000111324F41012022B61 +:10CA2000073D63ADC1BA503A33BBD3F2C93A641281 +:10CA30006412FA27E8039A99993E2E803FCDCC4C98 +:10CA400004423D6914A109402019042A3E202D0A00 +:10CA5000D7233C08190419240B45F0412069C43937 +:10CA6000803119308340401C0AD7A3300B100C4092 +:10CA7000406B80BF602DC1B8323E04300ACDCCCCB3 +:10CA80003D6666663F0132101AAA010000000000F0 :040000050800018965 :00000001FF diff --git a/MDK-ARM/DveC/DveC.htm b/MDK-ARM/DveC/DveC.htm index 1baa4bd..3b1b213 100644 --- a/MDK-ARM/DveC/DveC.htm +++ b/MDK-ARM/DveC/DveC.htm @@ -3,11 +3,11 @@ Static Call Graph - [DveC\DveC.axf]

Static Call Graph for image DveC\DveC.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Fri Oct 17 16:56:44 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Oct 19 16:05:54 2025

-

Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 384 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

-Task_height_cal ⇒ HeightEstimation_GetHeight ⇒ HeightEstimation_Updata ⇒ SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf +Task_quad_ctrl ⇒ Quad_Ctrl ⇒ Quad_UpdateStatus ⇒ HeightEstimation_GetHeight ⇒ HeightEstimation_Updata ⇒ SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf

Functions with no stack information @@ -25,7 +25,7 @@ Mutually Recursive functions
  • NMI_Handler   ⇒   NMI_Handler
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer
  • UsageFault_Handler   ⇒   UsageFault_Handler
    -
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    +
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer

    @@ -133,15 +133,16 @@ Function Pointers
  • TIM8_UP_TIM13_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • Task_Init from init.o(.text.Task_Init) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init)
  • Task_atti_esti from atti_esti.o(.text.Task_atti_esti) referenced 2 times from init.o(.text.Task_Init) -
  • Task_blink from blink.o(.text.Task_blink) referenced 2 times from init.o(.text.Task_Init) -
  • Task_height_cal from height_cal.o(.text.Task_height_cal) referenced 2 times from init.o(.text.Task_Init) -
  • Task_rc from rc.o(.text.Task_rc) referenced 2 times from init.o(.text.Task_Init) +
  • Task_blink from blink.o(.text.Task_blink) referenced 2 times from init.o(.text.Task_Init) +
  • Task_cmd from cmd_1.o(.text.Task_cmd) referenced 2 times from init.o(.text.Task_Init) +
  • Task_height_cal from height_cal.o(.text.Task_height_cal) referenced 2 times from init.o(.text.Task_Init) +
  • Task_quad_ctrl from quad_ctrl.o(.text.Task_quad_ctrl) referenced 2 times from init.o(.text.Task_Init)
  • UART4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • UART5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • UART_DMAAbortOnError from stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError) referenced 2 times from stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) -
  • UART_DMAError from stm32f4xx_hal_uart.o(.text.UART_DMAError) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) -
  • UART_DMAReceiveCplt from stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) -
  • UART_DMARxHalfCplt from stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) +
  • UART_DMAError from stm32f4xx_hal_uart.o(.text.UART_DMAError) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) +
  • UART_DMAReceiveCplt from stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) +
  • UART_DMARxHalfCplt from stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  • USART1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • USART2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • USART3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) @@ -149,39 +150,37 @@ Function Pointers
  • UsageFault_Handler from stm32f4xx_it.o(.text.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  • WWDG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • __main from __main.o(!!!main) referenced from startup_stm32f407xx.o(.text) -
  • prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler) -
  • prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack) -
  • prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask) +
  • prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler) +
  • prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack) +
  • prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask)

    Global Symbols

    __main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

    [Calls]

    • >>   __rt_entry -
    • >>   __scatterload +

      [Calls]
      • >>   __rt_entry +
      • >>   __scatterload

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

      __scatterload (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter)) +

      __scatterload (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))

      [Called By]

      • >>   __main
      -

      __scatterload_rt2 (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) -

      [Calls]

      • >>   __rt_entry +

        __scatterload_rt2 (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) +

        [Calls]

        • >>   __rt_entry
        -

        __scatterload_rt2_thumb_only (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) +

        __scatterload_rt2_thumb_only (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) -

        __scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) +

        __scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) -

        __scatterload_copy (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED) -

        [Calls]

        • >>   __scatterload_copy -
        -
        [Called By]
        • >>   __scatterload_copy -
        +

        __decompress (Thumb, 90 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED) -

        __scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED) +

        __decompress1 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED) + +

        __scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)

        __rt_lib_init (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))

        [Called By]

        • >>   __rt_entry_li @@ -191,70 +190,70 @@ Global Symbols

          [Calls]
          • >>   _fp_init
          -

          __rt_lib_init_alloca_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E)) +

          __rt_lib_init_alloca_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E)) -

          __rt_lib_init_argv_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C)) +

          __rt_lib_init_argv_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C)) -

          __rt_lib_init_atexit_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B)) +

          __rt_lib_init_atexit_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B)) -

          __rt_lib_init_clock_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021)) +

          __rt_lib_init_clock_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021)) -

          __rt_lib_init_cpp_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032)) +

          __rt_lib_init_cpp_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032)) -

          __rt_lib_init_exceptions_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030)) +

          __rt_lib_init_exceptions_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030)) -

          __rt_lib_init_fp_trap_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F)) +

          __rt_lib_init_fp_trap_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F)) -

          __rt_lib_init_getenv_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023)) +

          __rt_lib_init_getenv_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023)) -

          __rt_lib_init_heap_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A)) +

          __rt_lib_init_heap_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A)) -

          __rt_lib_init_lc_collate_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011)) +

          __rt_lib_init_lc_collate_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011)) -

          __rt_lib_init_lc_ctype_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013)) +

          __rt_lib_init_lc_ctype_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013)) -

          __rt_lib_init_lc_monetary_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015)) +

          __rt_lib_init_lc_monetary_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015)) -

          __rt_lib_init_lc_numeric_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017)) +

          __rt_lib_init_lc_numeric_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017)) -

          __rt_lib_init_lc_time_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019)) +

          __rt_lib_init_lc_time_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019)) -

          __rt_lib_init_preinit_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004)) +

          __rt_lib_init_preinit_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004)) -

          __rt_lib_init_rand_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E)) +

          __rt_lib_init_rand_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E)) -

          __rt_lib_init_return (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033)) +

          __rt_lib_init_return (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033)) -

          __rt_lib_init_signal_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D)) +

          __rt_lib_init_signal_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D)) -

          __rt_lib_init_stdio_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025)) +

          __rt_lib_init_stdio_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025)) -

          __rt_lib_init_user_alloc_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C)) +

          __rt_lib_init_user_alloc_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))

          __rt_lib_shutdown (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))

          [Called By]

          • >>   __rt_exit_ls
          -

          __rt_lib_shutdown_cpp_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)) +

          __rt_lib_shutdown_cpp_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)) -

          __rt_lib_shutdown_fp_trap_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)) +

          __rt_lib_shutdown_fp_trap_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)) -

          __rt_lib_shutdown_heap_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)) +

          __rt_lib_shutdown_heap_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)) -

          __rt_lib_shutdown_return (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)) +

          __rt_lib_shutdown_return (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)) -

          __rt_lib_shutdown_signal_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)) +

          __rt_lib_shutdown_signal_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)) -

          __rt_lib_shutdown_stdio_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)) +

          __rt_lib_shutdown_stdio_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)) -

          __rt_lib_shutdown_user_alloc_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)) +

          __rt_lib_shutdown_user_alloc_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)) -

          __rt_entry (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000)) +

          __rt_entry (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))

          [Called By]

          • >>   __main -
          • >>   __scatterload_rt2 +
          • >>   __scatterload_rt2
          -

          __rt_entry_presh_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002)) +

          __rt_entry_presh_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))

          __rt_entry_sh (Thumb, 0 bytes, Stack size unknown bytes, __rtentry4.o(.ARM.Collect$$rtentry$$00000004))

          [Stack]

          • Max Depth = 8 + Unknown Stack Size @@ -267,7 +266,7 @@ Global Symbols

            [Calls]
            • >>   __rt_lib_init
            -

            __rt_entry_postsh_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009)) +

            __rt_entry_postsh_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009))

            __rt_entry_main (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000D))

            [Stack]

            • Max Depth = 192 + Unknown Stack Size @@ -277,7 +276,7 @@ Global Symbols
            • >>   exit
            -

            __rt_entry_postli_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C)) +

            __rt_entry_postli_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C))

            __rt_exit (Thumb, 0 bytes, Stack size unknown bytes, rtexit.o(.ARM.Collect$$rtexit$$00000000))

            [Called By]

            • >>   exit @@ -287,7 +286,7 @@ Global Symbols

              [Calls]
              • >>   __rt_lib_shutdown
              -

              __rt_exit_prels_1 (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002)) +

              __rt_exit_prels_1 (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002))

              __rt_exit_exit (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000004))

              [Calls]

              • >>   _sys_exit @@ -524,46 +523,46 @@ Global Symbols
              • >>   UART_SetConfig
              -

              _ll_udiv (Thumb, 240 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED) +

              _ll_udiv (Thumb, 240 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED) -

              __aeabi_memcpy (Thumb, 0 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text)) -

              [Called By]

              • >>   prvCopyDataToQueue -
              • >>   prvCopyDataFromQueue +

                __aeabi_memcpy (Thumb, 0 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text)) +

                [Called By]

                • >>   prvCopyDataToQueue +
                • >>   prvCopyDataFromQueue

                __rt_memcpy (Thumb, 138 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text), UNUSED)

                [Calls]

                • >>   __aeabi_memcpy4
                -

                _memcpy_lastbytes (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_v6.o(.text), UNUSED) +

                _memcpy_lastbytes (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_v6.o(.text), UNUSED)

                __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED)

                [Called By]

                • >>   __rt_memcpy
                -

                __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED) +

                __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED) -

                __rt_memcpy_w (Thumb, 100 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED) +

                __rt_memcpy_w (Thumb, 100 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED) -

                _memcpy_lastbytes_aligned (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_w.o(.text), UNUSED) +

                _memcpy_lastbytes_aligned (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_w.o(.text), UNUSED)

                __aeabi_memset4 (Thumb, 16 bytes, Stack size 0 bytes, aeabi_memset4.o(.text))

                [Stack]

                • Max Depth = 4
                • Call Chain = __aeabi_memset4 ⇒ _memset_w

                [Calls]
                • >>   _memset_w
                -
                [Called By]
                • >>   prvInitialiseNewTask +
                  [Called By]
                  • >>   prvInitialiseNewTask
                  -

                  __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, aeabi_memset4.o(.text), UNUSED) +

                  __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, aeabi_memset4.o(.text), UNUSED) -

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

                  [Called By]

                  • >>   SystemClock_Config +

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

                    [Called By]

                    • >>   SystemClock_Config
                    -

                    __aeabi_memclr8 (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text), UNUSED) +

                    __aeabi_memclr8 (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text), UNUSED) -

                    __rt_memclr_w (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text), UNUSED) +

                    __rt_memclr_w (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text), UNUSED)

                    _memset_w (Thumb, 74 bytes, Stack size 4 bytes, rt_memclr_w.o(.text))

                    [Stack]

                    • Max Depth = 4
                    • Call Chain = _memset_w @@ -571,11 +570,11 @@ Global Symbols
                      [Called By]
                      • >>   __aeabi_memset4
                      -

                      __use_two_region_memory (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED) +

                      __use_two_region_memory (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED) -

                      __rt_heap_escrow$2region (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED) +

                      __rt_heap_escrow$2region (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED) -

                      __rt_heap_expand$2region (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED) +

                      __rt_heap_expand$2region (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)

                      __read_errno (Thumb, 10 bytes, Stack size 8 bytes, _rserrno.o(.text), UNUSED)

                      [Calls]

                      • >>   __aeabi_errno_addr @@ -586,11 +585,11 @@ Global Symbols

                      [Calls]
                      • >>   __aeabi_errno_addr
                      -
                      [Called By]
                      • >>   sqrtf -
                      • >>   sqrt +
                        [Called By]
                        • >>   sqrtf +
                        • >>   sqrt
                        • >>   __hardfp_tanf -
                        • >>   __hardfp_sinf -
                        • >>   __hardfp_pow +
                        • >>   __hardfp_sinf +
                        • >>   __hardfp_pow
                        • >>   __hardfp_atan2f
                        • >>   __hardfp_atan2
                        • >>   __hardfp_asinf @@ -601,17 +600,17 @@ Global Symbols
                        • >>   __read_errno
                        -

                        __errno$intlibspace (Thumb, 0 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text), UNUSED) +

                        __errno$intlibspace (Thumb, 0 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text), UNUSED) -

                        __rt_errno_addr$intlibspace (Thumb, 0 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text), UNUSED) +

                        __rt_errno_addr$intlibspace (Thumb, 0 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text), UNUSED) -

                        __user_libspace (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED) +

                        __user_libspace (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)

                        __user_perproc_libspace (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text))

                        [Called By]

                        • >>   __user_setup_stackheap
                        -

                        __user_perthread_libspace (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED) +

                        __user_perthread_libspace (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)

                        __user_setup_stackheap (Thumb, 74 bytes, Stack size 8 bytes, sys_stackheap_outer.o(.text))

                        [Stack]

                        • Max Depth = 8 + Unknown Stack Size @@ -636,11 +635,11 @@ Global Symbols

                          [Called By]
                          • >>   __rt_exit_exit
                          -

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

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

                          __use_no_semihosting_swi (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED) +

                          __use_no_semihosting_swi (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED) -

                          __semihosting_library_function (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED) +

                          __semihosting_library_function (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED)

                          AHRS_GetEulr (Thumb, 220 bytes, Stack size 24 bytes, ahrs.o(.text.AHRS_GetEulr))

                          [Stack]

                          • Max Depth = 64
                          • Call Chain = AHRS_GetEulr ⇒ __hardfp_atan2f ⇒ __set_errno @@ -699,7 +698,7 @@ Global Symbols
                            [Called By]
                            • >>   Task_atti_esti
                            -

                            BMI088_GetUpdateFreq (Thumb, 12 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_GetUpdateFreq)) +

                            BMI088_GetUpdateFreq (Thumb, 12 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_GetUpdateFreq))

                            [Called By]

                            • >>   Task_atti_esti
                            @@ -734,11 +733,11 @@ Global Symbols
                            [Called By]
                            • >>   Task_atti_esti
                            -

                            BMI088_ParseAccl (Thumb, 148 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_ParseAccl)) +

                            BMI088_ParseAccl (Thumb, 148 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_ParseAccl))

                            [Called By]

                            • >>   Task_atti_esti
                            -

                            BMI088_ParseGyro (Thumb, 132 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_ParseGyro)) +

                            BMI088_ParseGyro (Thumb, 132 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_ParseGyro))

                            [Called By]

                            • >>   Task_atti_esti
                            @@ -789,9 +788,10 @@ Global Symbols
                          • >>   BMI088_RxCpltCallback
                          -

                          BSP_PWM_SetComp (Thumb, 144 bytes, Stack size 0 bytes, pwm.o(.text.BSP_PWM_SetComp)) -

                          [Called By]

                          • >>   Task_blink +

                            BSP_PWM_SetComp (Thumb, 144 bytes, Stack size 0 bytes, pwm.o(.text.BSP_PWM_SetComp)) +

                            [Called By]

                            • >>   Task_blink
                            • >>   Task_atti_esti +
                            • >>   Quad_OutPut

                            BSP_PWM_Start (Thumb, 44 bytes, Stack size 8 bytes, pwm.o(.text.BSP_PWM_Start)) @@ -799,8 +799,9 @@ Global Symbols


                          [Calls]
                          • >>   HAL_TIM_PWM_Start
                          -
                          [Called By]
                          • >>   Task_blink +
                            [Called By]
                            • >>   Task_blink
                            • >>   Task_atti_esti +
                            • >>   Quad_Init

                            BSP_PWM_Stop (Thumb, 44 bytes, Stack size 8 bytes, pwm.o(.text.BSP_PWM_Stop)) @@ -808,7 +809,7 @@ Global Symbols


                          [Calls]
                          • >>   HAL_TIM_PWM_Stop
                          -
                          [Called By]
                          • >>   Task_blink +
                            [Called By]
                            • >>   Task_blink

                            BSP_SPI_GetHandle (Thumb, 18 bytes, Stack size 0 bytes, spi_1.o(.text.BSP_SPI_GetHandle)) @@ -858,7 +859,7 @@ Global Symbols

                          • >>   SPL06_Init
                          -

                          BSP_TIME_Delay_ms (Thumb, 88 bytes, Stack size 16 bytes, time.o(.text.BSP_TIME_Delay_ms), UNUSED) +

                          BSP_TIME_Delay_ms (Thumb, 88 bytes, Stack size 16 bytes, time.o(.text.BSP_TIME_Delay_ms), UNUSED)

                          BSP_TIME_Delay_us (Thumb, 32 bytes, Stack size 16 bytes, time.o(.text.BSP_TIME_Delay_us))

                          [Stack]

                          • Max Depth = 40
                          • Call Chain = BSP_TIME_Delay_us ⇒ BSP_TIME_Get_us @@ -882,7 +883,8 @@ Global Symbols

                            BSP_TIME_Get_us (Thumb, 80 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us))

                            [Stack]

                            • Max Depth = 24
                            • Call Chain = BSP_TIME_Get_us
                            -
                            [Called By]
                            • >>   HeightEstimation_GetHeight +
                              [Called By]
                              • >>   Quad_Ctrl +
                              • >>   HeightEstimation_GetHeight
                              • >>   BSP_TIME_Delay_us
                              @@ -909,29 +911,31 @@ Global Symbols

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

                            COMP_AT9S_CMD_ParseRc (Thumb, 540 bytes, Stack size 8 bytes, at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc)) -

                            [Stack]

                            • Max Depth = 8
                            • Call Chain = COMP_AT9S_CMD_ParseRc -
                            -
                            [Called By]
                            • >>   Task_rc +

                              COMP_AT9S_CMD_ParseRc (Thumb, 440 bytes, Stack size 0 bytes, at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc)) +

                              [Called By]

                              • >>   Task_cmd

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

                              [Called By]

                              • >>   PID_Calc
                              +

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

                              [Called By]

                              • >>   Task_quad_ctrl +
                              +

                              DEVICE_AT9S_Init (Thumb, 70 bytes, Stack size 16 bytes, at9s_pro.o(.text.DEVICE_AT9S_Init))

                              [Stack]

                              • Max Depth = 24
                              • Call Chain = DEVICE_AT9S_Init ⇒ osThreadGetId

                              [Calls]
                              • >>   osThreadGetId
                              • >>   BSP_UART_RegisterCallback
                              -
                              [Called By]
                              • >>   Task_rc +
                                [Called By]
                                • >>   Task_cmd
                                -

                                DEVICE_AT9S_ParseRaw (Thumb, 632 bytes, Stack size 44 bytes, at9s_pro.o(.text.DEVICE_AT9S_ParseRaw)) +

                                DEVICE_AT9S_ParseRaw (Thumb, 632 bytes, Stack size 44 bytes, at9s_pro.o(.text.DEVICE_AT9S_ParseRaw))

                                [Stack]

                                • Max Depth = 44
                                • Call Chain = DEVICE_AT9S_ParseRaw
                                -
                                [Called By]
                                • >>   Task_rc +
                                  [Called By]
                                  • >>   Task_cmd

                                  DEVICE_AT9S_StartDmaRecv (Thumb, 28 bytes, Stack size 8 bytes, at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv)) @@ -940,7 +944,7 @@ Global Symbols
                                  [Calls]

                                  • >>   HAL_UART_Receive_DMA
                                  • >>   BSP_UART_GetHandle
                                  -
                                  [Called By]
                                  • >>   Task_rc +
                                    [Called By]
                                    • >>   Task_cmd

                                    DEVICE_AT9S_WaitDmaCplt (Thumb, 26 bytes, Stack size 8 bytes, at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt)) @@ -948,7 +952,7 @@ Global Symbols


                                  [Calls]
                                  • >>   osThreadFlagsWait
                                  -
                                  [Called By]
                                  • >>   Task_rc +
                                    [Called By]
                                    • >>   Task_cmd

                                    DMA1_Stream1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)) @@ -1021,7 +1025,7 @@ Global Symbols

                                    [Called By]

                                    • >>   HAL_UART_MspInit
                                    • >>   HAL_SPI_MspInit
                                    • >>   HAL_I2C_MspInit -
                                    • >>   SystemClock_Config +
                                    • >>   SystemClock_Config
                                    • >>   MX_USART6_UART_Init
                                    • >>   MX_USART3_UART_Init
                                    • >>   MX_TIM5_Init @@ -1133,7 +1137,7 @@ Global Symbols

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

                                    [Called By]

                                    • >>   SPI_WaitFlagStateUntilTimeout +

                                      [Called By]
                                      • >>   SPI_WaitFlagStateUntilTimeout
                                      • >>   SPI_DMATransmitReceiveCplt
                                      • >>   SPI_DMATransmitCplt
                                      • >>   SPI_DMAReceiveCplt @@ -1166,7 +1170,7 @@ Global Symbols
                                        [Called By]
                                        • >>   HAL_I2C_Init
                                        -

                                        HAL_IncTick (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_IncTick)) +

                                        HAL_IncTick (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_IncTick))

                                        [Called By]

                                        • >>   SysTick_Handler
                                        @@ -1246,7 +1250,7 @@ Global Symbols
                                      • >>   HAL_InitTick
                                      • >>   HAL_GetTick
                                      -
                                      [Called By]
                                      • >>   SystemClock_Config +
                                        [Called By]
                                        • >>   SystemClock_Config

                                        HAL_RCC_GetHCLKFreq (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)) @@ -1284,7 +1288,7 @@ Global Symbols


                                      [Calls]
                                      • >>   HAL_GetTick
                                      -
                                      [Called By]
                                      • >>   SystemClock_Config +
                                        [Called By]
                                        • >>   SystemClock_Config

                                        HAL_SPI_ErrorCallback (Thumb, 34 bytes, Stack size 8 bytes, spi_1.o(.text.HAL_SPI_ErrorCallback)) @@ -1516,8 +1520,8 @@ Global Symbols

                                        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 +
                                        • >>   UART_DMARxHalfCplt +
                                        • >>   UART_DMAReceiveCplt

                                        HAL_UART_ErrorCallback (Thumb, 38 bytes, Stack size 8 bytes, uart.o(.text.HAL_UART_ErrorCallback)) @@ -1526,7 +1530,7 @@ Global Symbols
                                        [Calls]

                                        • >>   UART_Get

                                        [Called By]
                                        • >>   HAL_UART_IRQHandler -
                                        • >>   UART_DMAError +
                                        • >>   UART_DMAError
                                        • >>   UART_DMAAbortOnError
                                        @@ -1581,7 +1585,7 @@ Global Symbols
                                        [Calls]
                                        • >>   UART_Get

                                        [Called By]
                                        • >>   UART_Receive_IT -
                                        • >>   UART_DMAReceiveCplt +
                                        • >>   UART_DMAReceiveCplt

                                        HAL_UART_RxHalfCpltCallback (Thumb, 38 bytes, Stack size 8 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback)) @@ -1589,7 +1593,7 @@ Global Symbols


                                      [Calls]
                                      • >>   UART_Get
                                      -
                                      [Called By]
                                      • >>   UART_DMARxHalfCplt +
                                        [Called By]
                                        • >>   UART_DMARxHalfCplt

                                        HAL_UART_TxCpltCallback (Thumb, 38 bytes, Stack size 8 bytes, uart.o(.text.HAL_UART_TxCpltCallback)) @@ -1616,7 +1620,8 @@ Global Symbols

                                      • >>   __aeabi_ul2f
                                      • >>   __aeabi_f2ulz
                                      -
                                      [Called By]
                                      • >>   Task_height_cal +
                                        [Called By]
                                        • >>   Task_height_cal +
                                        • >>   Quad_UpdateStatus

                                        HeightEstimation_Init (Thumb, 244 bytes, Stack size 40 bytes, heightestimation.o(.text.HeightEstimation_Init)) @@ -1631,7 +1636,7 @@ Global Symbols

                                      • >>   osMessageQueueGet
                                      • >>   osDelay
                                      -
                                      [Called By]
                                      • >>   Task_height_cal +
                                        [Called By]
                                        • >>   Task_height_cal

                                        HeightEstimation_Updata (Thumb, 192 bytes, Stack size 16 bytes, heightestimation.o(.text.HeightEstimation_Updata)) @@ -1674,7 +1679,7 @@ Global Symbols

                                      • >>   IIC_Ack
                                      • >>   BSP_TIME_Delay_us
                                      -
                                      [Called By]
                                      • >>   spl06_read_reg +
                                        [Called By]
                                        • >>   spl06_read_reg

                                        IIC_Send_Byte (Thumb, 90 bytes, Stack size 16 bytes, user_iic.o(.text.IIC_Send_Byte)) @@ -1684,8 +1689,8 @@ Global Symbols

                                      • >>   SDA_OUT
                                      • >>   BSP_TIME_Delay_us
                                      -
                                      [Called By]
                                      • >>   spl06_write_reg -
                                      • >>   spl06_read_reg +
                                        [Called By]
                                        • >>   spl06_write_reg +
                                        • >>   spl06_read_reg

                                        IIC_Start (Thumb, 68 bytes, Stack size 8 bytes, user_iic.o(.text.IIC_Start)) @@ -1695,8 +1700,8 @@ Global Symbols

                                      • >>   SDA_OUT
                                      • >>   BSP_TIME_Delay_us
                                      -
                                      [Called By]
                                      • >>   spl06_write_reg -
                                      • >>   spl06_read_reg +
                                        [Called By]
                                        • >>   spl06_write_reg +
                                        • >>   spl06_read_reg

                                        IIC_Stop (Thumb, 58 bytes, Stack size 8 bytes, user_iic.o(.text.IIC_Stop)) @@ -1706,8 +1711,8 @@ Global Symbols

                                      • >>   SDA_OUT
                                      • >>   BSP_TIME_Delay_us
                                      -
                                      [Called By]
                                      • >>   spl06_write_reg -
                                      • >>   spl06_read_reg +
                                        [Called By]
                                        • >>   spl06_write_reg +
                                        • >>   spl06_read_reg
                                        • >>   IIC_Wait_Ack
                                        @@ -1720,8 +1725,8 @@ Global Symbols
                                      • >>   IIC_Stop
                                      • >>   BSP_TIME_Delay_us
                                      -
                                      [Called By]
                                      • >>   spl06_write_reg -
                                      • >>   spl06_read_reg +
                                        [Called By]
                                        • >>   spl06_write_reg +
                                        • >>   spl06_read_reg

                                        InvSqrt (Thumb, 66 bytes, Stack size 0 bytes, user_math.o(.text.InvSqrt)) @@ -1729,6 +1734,14 @@ Global Symbols

                                      • >>   AHRS_UpdateIMU
                                      +

                                      Kalman_Init (Thumb, 46 bytes, Stack size 0 bytes, xm_quadctrl.o(.text.Kalman_Init)) +

                                      [Called By]

                                      • >>   Quad_Init +
                                      + +

                                      Kalman_Update (Thumb, 178 bytes, Stack size 0 bytes, xm_quadctrl.o(.text.Kalman_Update)) +

                                      [Called By]

                                      • >>   Quad_UpdateStatus +
                                      +

                                      LowPassFilter2p_Apply (Thumb, 124 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Apply))

                                      [Stack]

                                      • Max Depth = 40
                                      • Call Chain = LowPassFilter2p_Apply
                                      @@ -1745,6 +1758,7 @@ Global Symbols
                                      [Calls]
                                      • >>   __hardfp_tanf

                                      [Called By]
                                      • >>   HeightEstimation_Init +
                                      • >>   Quad_Init
                                      • >>   PID_Init
                                      @@ -1893,6 +1907,9 @@ Global Symbols
                                    • >>   LowPassFilter2p_Apply

                                    [Called By]
                                    • >>   Task_atti_esti +
                                    • >>   Quad_PosCtrl +
                                    • >>   Quad_AttCtrl_omg +
                                    • >>   Quad_AttCtrl_agl

                                    PID_Init (Thumb, 144 bytes, Stack size 32 bytes, pid.o(.text.PID_Init)) @@ -1903,6 +1920,7 @@ Global Symbols

                                  • >>   LowPassFilter2p_Init

                                  [Called By]
                                  • >>   Task_atti_esti +
                                  • >>   Quad_Init

                                  PID_Reset (Thumb, 44 bytes, Stack size 8 bytes, pid.o(.text.PID_Reset)) @@ -1920,6 +1938,98 @@ Global Symbols


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

                                Quad_AttCtrl_agl (Thumb, 80 bytes, Stack size 16 bytes, xm_quadctrl.o(.text.Quad_AttCtrl_agl)) +

                                [Stack]

                                • Max Depth = 112
                                • Call Chain = Quad_AttCtrl_agl ⇒ PID_Calc ⇒ LowPassFilter2p_Apply +
                                +
                                [Calls]
                                • >>   PID_Calc +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                + +

                                Quad_AttCtrl_omg (Thumb, 116 bytes, Stack size 24 bytes, xm_quadctrl.o(.text.Quad_AttCtrl_omg)) +

                                [Stack]

                                • Max Depth = 120
                                • Call Chain = Quad_AttCtrl_omg ⇒ PID_Calc ⇒ LowPassFilter2p_Apply +
                                +
                                [Calls]
                                • >>   PID_Calc +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                + +

                                Quad_Ctrl (Thumb, 240 bytes, Stack size 48 bytes, xm_quadctrl.o(.text.Quad_Ctrl)) +

                                [Stack]

                                • Max Depth = 376
                                • Call Chain = Quad_Ctrl ⇒ Quad_UpdateStatus ⇒ HeightEstimation_GetHeight ⇒ HeightEstimation_Updata ⇒ SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf +
                                +
                                [Calls]
                                • >>   Quad_UpdateStatus +
                                • >>   Quad_SetTargetStates +
                                • >>   Quad_PosCtrl +
                                • >>   Quad_OutPut +
                                • >>   Quad_Mixer +
                                • >>   Quad_AttCtrl_omg +
                                • >>   Quad_AttCtrl_agl +
                                • >>   BSP_TIME_Get_us +
                                • >>   __aeabi_ul2f +
                                • >>   __aeabi_f2lz +
                                +
                                [Called By]
                                • >>   Task_quad_ctrl +
                                + +

                                Quad_Init (Thumb, 484 bytes, Stack size 48 bytes, xm_quadctrl.o(.text.Quad_Init)) +

                                [Stack]

                                • Max Depth = 152
                                • Call Chain = Quad_Init ⇒ PID_Init ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply +
                                +
                                [Calls]
                                • >>   Kalman_Init +
                                • >>   PID_Init +
                                • >>   LowPassFilter2p_Init +
                                • >>   BSP_PWM_Start +
                                +
                                [Called By]
                                • >>   Task_quad_ctrl +
                                + +

                                Quad_Mixer (Thumb, 240 bytes, Stack size 40 bytes, xm_quadctrl.o(.text.Quad_Mixer)) +

                                [Stack]

                                • Max Depth = 72
                                • Call Chain = Quad_Mixer ⇒ __aeabi_dmul +
                                +
                                [Calls]
                                • >>   Quad_Math_ScaleSumTo1 +
                                • >>   Quad_Math_LimitFloat +
                                • >>   __aeabi_f2d +
                                • >>   __aeabi_dmul +
                                • >>   __aeabi_dadd +
                                • >>   __aeabi_d2f +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                + +

                                Quad_OutPut (Thumb, 62 bytes, Stack size 8 bytes, xm_quadctrl.o(.text.Quad_OutPut)) +

                                [Stack]

                                • Max Depth = 8
                                • Call Chain = Quad_OutPut +
                                +
                                [Calls]
                                • >>   BSP_PWM_SetComp +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                + +

                                Quad_PosCtrl (Thumb, 76 bytes, Stack size 8 bytes, xm_quadctrl.o(.text.Quad_PosCtrl)) +

                                [Stack]

                                • Max Depth = 104
                                • Call Chain = Quad_PosCtrl ⇒ PID_Calc ⇒ LowPassFilter2p_Apply +
                                +
                                [Calls]
                                • >>   Quad_Math_LimitFloat +
                                • >>   PID_Calc +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                + +

                                Quad_SetTargetStates (Thumb, 122 bytes, Stack size 16 bytes, xm_quadctrl.o(.text.Quad_SetTargetStates)) +

                                [Stack]

                                • Max Depth = 16
                                • Call Chain = Quad_SetTargetStates +
                                +
                                [Calls]
                                • >>   Quad_Math_LimitFloat +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                + +

                                Quad_UpdateStatus (Thumb, 96 bytes, Stack size 16 bytes, xm_quadctrl.o(.text.Quad_UpdateStatus)) +

                                [Stack]

                                • Max Depth = 328
                                • Call Chain = Quad_UpdateStatus ⇒ HeightEstimation_GetHeight ⇒ HeightEstimation_Updata ⇒ SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf +
                                +
                                [Calls]
                                • >>   Kalman_Update +
                                • >>   HeightEstimation_GetHeight +
                                • >>   __hardfp_atan2f +
                                +
                                [Called By]
                                • >>   Quad_Ctrl +
                                +

                                SDA_IN (Thumb, 36 bytes, Stack size 32 bytes, user_iic.o(.text.SDA_IN))

                                [Stack]

                                • Max Depth = 80
                                • Call Chain = SDA_IN ⇒ HAL_GPIO_Init
                                @@ -1944,12 +2054,12 @@ Global Symbols

                                SPL06_CaculateHeight (Thumb, 128 bytes, Stack size 8 bytes, spl06_1.o(.text.SPL06_CaculateHeight))

                                [Stack]

                                • Max Depth = 264
                                • Call Chain = SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
                                -
                                [Calls]
                                • >>   __hardfp_pow +
                                  [Calls]
                                  • >>   __hardfp_pow
                                  • >>   __aeabi_f2d -
                                  • >>   __aeabi_dmul -
                                  • >>   __aeabi_d2iz -
                                  • >>   __aeabi_ddiv -
                                  • >>   __aeabi_dsub +
                                  • >>   __aeabi_dmul +
                                  • >>   __aeabi_d2iz +
                                  • >>   __aeabi_ddiv +
                                  • >>   __aeabi_dsub

                                  [Called By]
                                  • >>   HeightEstimation_Updata
                                  • >>   HeightEstimation_Init @@ -1958,13 +2068,13 @@ Global Symbols

                                    SPL06_Init (Thumb, 102 bytes, Stack size 8 bytes, spl06_1.o(.text.SPL06_Init))

                                    [Stack]

                                    • Max Depth = 152
                                    • Call Chain = SPL06_Init ⇒ spl06_get_calib_param ⇒ spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                    -
                                    [Calls]
                                    • >>   spl06_write_reg -
                                    • >>   spl06_start -
                                    • >>   spl06_read_reg -
                                    • >>   spl06_get_measure_status -
                                    • >>   spl06_get_calib_param -
                                    • >>   spl06_config_temperature -
                                    • >>   spl06_config_pressure +
                                      [Calls]
                                      • >>   spl06_write_reg +
                                      • >>   spl06_start +
                                      • >>   spl06_read_reg +
                                      • >>   spl06_get_measure_status +
                                      • >>   spl06_get_calib_param +
                                      • >>   spl06_config_temperature +
                                      • >>   spl06_config_pressure
                                      • >>   BSP_TIME_Delay

                                      [Called By]
                                      • >>   HeightEstimation_Init @@ -1973,13 +2083,13 @@ Global Symbols

                                        SPL06_Update (Thumb, 304 bytes, Stack size 56 bytes, spl06_1.o(.text.SPL06_Update))

                                        [Stack]

                                        • Max Depth = 192
                                        • Call Chain = SPL06_Update ⇒ spl06_get_temperature_adc ⇒ spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                        -
                                        [Calls]
                                        • >>   spl06_get_temperature_adc -
                                        • >>   spl06_get_pressure_adc +
                                          [Calls]
                                          • >>   spl06_get_temperature_adc +
                                          • >>   spl06_get_pressure_adc
                                          • >>   __aeabi_f2d -
                                          • >>   __aeabi_dmul -
                                          • >>   __aeabi_i2d -
                                          • >>   __aeabi_d2iz -
                                          • >>   __aeabi_dadd +
                                          • >>   __aeabi_dmul +
                                          • >>   __aeabi_i2d +
                                          • >>   __aeabi_d2iz +
                                          • >>   __aeabi_dadd

                                          [Called By]
                                          • >>   HeightEstimation_Updata
                                          • >>   HeightEstimation_Init @@ -1991,7 +2101,7 @@ Global Symbols

                                            StartDefaultTask (Thumb, 12 bytes, Stack size 8 bytes, freertos.o(.text.StartDefaultTask))

                                            [Stack]

                                            • Max Depth = 136
                                            • Call Chain = StartDefaultTask ⇒ osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                            -
                                            [Calls]
                                            • >>   osThreadTerminate +
                                              [Calls]
                                              • >>   osThreadTerminate
                                              • >>   osThreadGetId

                                              [Address Reference Count : 1]
                                              • freertos.o(.text.MX_FREERTOS_Init) @@ -1999,20 +2109,20 @@ Global Symbols

                                                SysTick_Handler (Thumb, 20 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.SysTick_Handler))

                                                [Stack]

                                                • Max Depth = 56
                                                • 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, 164 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config)) +

                                                  SystemClock_Config (Thumb, 164 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config))

                                                  [Stack]

                                                  • Max Depth = 168 + Unknown Stack Size
                                                  • Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod

                                                  [Calls]
                                                  • >>   HAL_RCC_OscConfig
                                                  • >>   HAL_RCC_ClockConfig
                                                  • >>   Error_Handler -
                                                  • >>   __aeabi_memclr4 +
                                                  • >>   __aeabi_memclr4

                                                  [Called By]
                                                  • >>   main
                                                  @@ -2040,20 +2150,20 @@ Global Symbols
                                                  [Called By]
                                                  • >>   HAL_TIM_PWM_ConfigChannel
                                                  -

                                                  Task_Init (Thumb, 136 bytes, Stack size 8 bytes, init.o(.text.Task_Init)) +

                                                  Task_Init (Thumb, 208 bytes, Stack size 8 bytes, init.o(.text.Task_Init))

                                                  [Stack]

                                                  • Max Depth = 192
                                                  • Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                  -
                                                  [Calls]
                                                  • >>   osThreadTerminate +
                                                    [Calls]
                                                    • >>   osThreadTerminate
                                                    • >>   osThreadNew
                                                    • >>   osThreadGetId -
                                                    • >>   osMessageQueueNew -
                                                    • >>   osKernelUnlock -
                                                    • >>   osKernelLock +
                                                    • >>   osMessageQueueNew +
                                                    • >>   osKernelUnlock +
                                                    • >>   osKernelLock

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

                                                    Task_atti_esti (Thumb, 320 bytes, Stack size 0 bytes, atti_esti.o(.text.Task_atti_esti)) -

                                                    [Stack]

                                                    • Max Depth = 216
                                                    • Call Chain = Task_atti_esti ⇒ AHRS_Update ⇒ AHRS_UpdateIMU +

                                                      Task_atti_esti (Thumb, 368 bytes, Stack size 8 bytes, atti_esti.o(.text.Task_atti_esti)) +

                                                      [Stack]

                                                      • Max Depth = 224
                                                      • Call Chain = Task_atti_esti ⇒ AHRS_Update ⇒ AHRS_UpdateIMU

                                                      [Calls]
                                                      • >>   PID_Init
                                                      • >>   PID_Calc @@ -2061,77 +2171,96 @@ Global Symbols
                                                      • >>   AHRS_Init
                                                      • >>   AHRS_GetEulr
                                                      • >>   BMI088_WaitNew -
                                                      • >>   BMI088_ParseGyro -
                                                      • >>   BMI088_ParseAccl +
                                                      • >>   BMI088_ParseGyro +
                                                      • >>   BMI088_ParseAccl
                                                      • >>   BMI088_Init
                                                      • >>   BMI088_GyroWaitDmaCplt
                                                      • >>   BMI088_GyroStartDmaRecv -
                                                      • >>   BMI088_GetUpdateFreq +
                                                      • >>   BMI088_GetUpdateFreq
                                                      • >>   BMI088_AcclWaitDmaCplt
                                                      • >>   BMI088_AcclStartDmaRecv
                                                      • >>   BSP_PWM_Start -
                                                      • >>   BSP_PWM_SetComp -
                                                      • >>   osMessageQueuePut -
                                                      • >>   osKernelUnlock -
                                                      • >>   osKernelLock +
                                                      • >>   BSP_PWM_SetComp +
                                                      • >>   osMessageQueuePut +
                                                      • >>   osKernelUnlock +
                                                      • >>   osKernelLock
                                                      • >>   osKernelGetTickFreq -
                                                      • >>   osKernelGetTickCount -
                                                      • >>   osDelayUntil +
                                                      • >>   osKernelGetTickCount +
                                                      • >>   osDelayUntil
                                                      • >>   osDelay -
                                                      • >>   __aeabi_ui2d -
                                                      • >>   __aeabi_d2uiz -
                                                      • >>   __aeabi_ddiv +
                                                      • >>   __aeabi_ui2d +
                                                      • >>   __aeabi_d2uiz +
                                                      • >>   __aeabi_ddiv

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

                                                      Task_blink (Thumb, 136 bytes, Stack size 0 bytes, blink.o(.text.Task_blink)) +

                                                      Task_blink (Thumb, 136 bytes, Stack size 0 bytes, blink.o(.text.Task_blink))

                                                      [Stack]

                                                      • Max Depth = 112
                                                      • Call Chain = Task_blink ⇒ osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

                                                      [Calls]
                                                      • >>   BSP_PWM_Stop
                                                      • >>   BSP_PWM_Start -
                                                      • >>   BSP_PWM_SetComp +
                                                      • >>   BSP_PWM_SetComp
                                                      • >>   osKernelGetTickFreq -
                                                      • >>   osKernelGetTickCount -
                                                      • >>   osDelayUntil +
                                                      • >>   osKernelGetTickCount +
                                                      • >>   osDelayUntil
                                                      • >>   osDelay -
                                                      • >>   __hardfp_sinf -
                                                      • >>   __aeabi_ui2d -
                                                      • >>   __aeabi_d2uiz -
                                                      • >>   __aeabi_ddiv +
                                                      • >>   __hardfp_sinf +
                                                      • >>   __aeabi_ui2d +
                                                      • >>   __aeabi_d2uiz +
                                                      • >>   __aeabi_ddiv

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

                                                      Task_height_cal (Thumb, 132 bytes, Stack size 0 bytes, height_cal.o(.text.Task_height_cal)) +

                                                      Task_cmd (Thumb, 176 bytes, Stack size 0 bytes, cmd_1.o(.text.Task_cmd)) +

                                                      [Stack]

                                                      • Max Depth = 152
                                                      • Call Chain = Task_cmd ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +
                                                      +
                                                      [Calls]
                                                      • >>   COMP_AT9S_CMD_ParseRc +
                                                      • >>   DEVICE_AT9S_WaitDmaCplt +
                                                      • >>   DEVICE_AT9S_StartDmaRecv +
                                                      • >>   DEVICE_AT9S_ParseRaw +
                                                      • >>   DEVICE_AT9S_Init +
                                                      • >>   osMessageQueuePut +
                                                      • >>   osKernelGetTickFreq +
                                                      • >>   osKernelGetTickCount +
                                                      • >>   osDelayUntil +
                                                      • >>   osDelay +
                                                      • >>   __aeabi_ui2d +
                                                      • >>   __aeabi_d2uiz +
                                                      • >>   __aeabi_ddiv +
                                                      +
                                                      [Address Reference Count : 1]
                                                      • init.o(.text.Task_Init) +
                                                      +

                                                      Task_height_cal (Thumb, 156 bytes, Stack size 0 bytes, height_cal.o(.text.Task_height_cal))

                                                      [Stack]

                                                      • Max Depth = 312
                                                      • Call Chain = Task_height_cal ⇒ HeightEstimation_GetHeight ⇒ HeightEstimation_Updata ⇒ SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf

                                                      [Calls]
                                                      • >>   HeightEstimation_Init
                                                      • >>   HeightEstimation_GetHeight +
                                                      • >>   osMessageQueuePut
                                                      • >>   osMessageQueueGet
                                                      • >>   osKernelGetTickFreq -
                                                      • >>   osKernelGetTickCount -
                                                      • >>   osDelayUntil +
                                                      • >>   osKernelGetTickCount +
                                                      • >>   osDelayUntil
                                                      • >>   osDelay -
                                                      • >>   __aeabi_ui2d -
                                                      • >>   __aeabi_d2uiz -
                                                      • >>   __aeabi_ddiv +
                                                      • >>   __aeabi_ui2d +
                                                      • >>   __aeabi_d2uiz +
                                                      • >>   __aeabi_ddiv

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

                                                      Task_rc (Thumb, 136 bytes, Stack size 0 bytes, rc.o(.text.Task_rc)) -

                                                      [Stack]

                                                      • Max Depth = 112
                                                      • Call Chain = Task_rc ⇒ DEVICE_AT9S_WaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert +

                                                        Task_quad_ctrl (Thumb, 196 bytes, Stack size 8 bytes, quad_ctrl.o(.text.Task_quad_ctrl)) +

                                                        [Stack]

                                                        • Max Depth = 384
                                                        • Call Chain = Task_quad_ctrl ⇒ Quad_Ctrl ⇒ Quad_UpdateStatus ⇒ HeightEstimation_GetHeight ⇒ HeightEstimation_Updata ⇒ SPL06_CaculateHeight ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
                                                        -
                                                        [Calls]
                                                        • >>   COMP_AT9S_CMD_ParseRc -
                                                        • >>   DEVICE_AT9S_WaitDmaCplt -
                                                        • >>   DEVICE_AT9S_StartDmaRecv -
                                                        • >>   DEVICE_AT9S_ParseRaw -
                                                        • >>   DEVICE_AT9S_Init +
                                                          [Calls]
                                                          • >>   Quad_Init +
                                                          • >>   Quad_Ctrl +
                                                          • >>   Config_GetRobotParam +
                                                          • >>   osMessageQueueGet
                                                          • >>   osKernelGetTickFreq -
                                                          • >>   osKernelGetTickCount -
                                                          • >>   osDelayUntil +
                                                          • >>   osKernelGetTickCount +
                                                          • >>   osDelayUntil
                                                          • >>   osDelay -
                                                          • >>   __aeabi_ui2d -
                                                          • >>   __aeabi_d2uiz -
                                                          • >>   __aeabi_ddiv +
                                                          • >>   __aeabi_ui2d +
                                                          • >>   __aeabi_d2uiz +
                                                          • >>   __aeabi_ddiv

                                                          [Address Reference Count : 1]
                                                          • init.o(.text.Task_Init)
                                                          @@ -2158,22 +2287,22 @@ Global Symbols

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

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

                                                        eTaskGetState (Thumb, 156 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, 62 bytes, Stack size 0 bytes, main.o(.text.main))

                                                            [Stack]

                                                            • Max Depth = 192 + Unknown Stack Size
                                                            • Call Chain = main ⇒ MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                            -
                                                            [Calls]
                                                            • >>   osKernelStart -
                                                            • >>   osKernelInitialize -
                                                            • >>   SystemClock_Config +
                                                              [Calls]
                                                              • >>   osKernelStart +
                                                              • >>   osKernelInitialize +
                                                              • >>   SystemClock_Config
                                                              • >>   MX_USART6_UART_Init
                                                              • >>   MX_USART3_UART_Init
                                                              • >>   MX_TIM5_Init @@ -2193,85 +2322,89 @@ Global Symbols

                                                                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_rc -
                                                                  • >>   Task_blink -
                                                                  • >>   Task_height_cal +
                                                                    [Called By]
                                                                    • >>   Task_quad_ctrl +
                                                                    • >>   Task_height_cal +
                                                                    • >>   Task_cmd +
                                                                    • >>   Task_blink
                                                                    • >>   Task_atti_esti
                                                                    • >>   HeightEstimation_Init
                                                                    • >>   BSP_TIME_Delay
                                                                    -

                                                                    osDelayUntil (Thumb, 52 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osDelayUntil)) +

                                                                    osDelayUntil (Thumb, 52 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osDelayUntil))

                                                                    [Stack]

                                                                    • Max Depth = 112
                                                                    • Call Chain = osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

                                                                    [Calls]
                                                                    • >>   xTaskGetTickCount -
                                                                    • >>   vTaskDelayUntil +
                                                                    • >>   vTaskDelayUntil
                                                                    -
                                                                    [Called By]
                                                                    • >>   Task_rc -
                                                                    • >>   Task_blink -
                                                                    • >>   Task_height_cal +
                                                                      [Called By]
                                                                      • >>   Task_quad_ctrl +
                                                                      • >>   Task_height_cal +
                                                                      • >>   Task_cmd +
                                                                      • >>   Task_blink
                                                                      • >>   Task_atti_esti

                                                                      osKernelGetState (Thumb, 38 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelGetState))

                                                                      [Stack]

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

                                                                        [Called By]
                                                                        • >>   BSP_TIME_Delay
                                                                        -

                                                                        osKernelGetTickCount (Thumb, 20 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelGetTickCount)) +

                                                                        osKernelGetTickCount (Thumb, 20 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelGetTickCount))

                                                                        [Stack]

                                                                        • Max Depth = 16
                                                                        • Call Chain = osKernelGetTickCount ⇒ xTaskGetTickCountFromISR
                                                                        -
                                                                        [Calls]
                                                                        • >>   xTaskGetTickCountFromISR +
                                                                          [Calls]
                                                                          • >>   xTaskGetTickCountFromISR
                                                                          • >>   xTaskGetTickCount
                                                                          -
                                                                          [Called By]
                                                                          • >>   Task_rc -
                                                                          • >>   Task_blink -
                                                                          • >>   Task_height_cal +
                                                                            [Called By]
                                                                            • >>   Task_quad_ctrl +
                                                                            • >>   Task_height_cal +
                                                                            • >>   Task_cmd +
                                                                            • >>   Task_blink
                                                                            • >>   Task_atti_esti

                                                                            osKernelGetTickFreq (Thumb, 6 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelGetTickFreq)) -

                                                                            [Called By]

                                                                            • >>   Task_rc -
                                                                            • >>   Task_blink -
                                                                            • >>   Task_height_cal +

                                                                              [Called By]
                                                                              • >>   Task_quad_ctrl +
                                                                              • >>   Task_height_cal +
                                                                              • >>   Task_cmd +
                                                                              • >>   Task_blink
                                                                              • >>   Task_atti_esti
                                                                              • >>   BSP_TIME_Get
                                                                              • >>   BSP_TIME_Delay
                                                                              -

                                                                              osKernelInitialize (Thumb, 40 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelInitialize)) +

                                                                              osKernelInitialize (Thumb, 40 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
                                                                                • >>   Task_atti_esti
                                                                                -

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

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

                                                                                [Stack]

                                                                                • Max Depth = 168
                                                                                • Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                -
                                                                                [Calls]
                                                                                • >>   SVC_Setup -
                                                                                • >>   vTaskStartScheduler +
                                                                                  [Calls]
                                                                                  • >>   SVC_Setup +
                                                                                  • >>   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 = 88
                                                                                  • Call Chain = osKernelUnlock ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   xTaskGetSchedulerState -
                                                                                  • >>   xTaskResumeAll +
                                                                                    [Calls]
                                                                                    • >>   xTaskGetSchedulerState +
                                                                                    • >>   xTaskResumeAll

                                                                                    [Called By]
                                                                                    • >>   Task_Init
                                                                                    • >>   Task_atti_esti @@ -2280,37 +2413,40 @@ Global Symbols

                                                                                      osMessageQueueGet (Thumb, 134 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMessageQueueGet))

                                                                                      [Stack]

                                                                                      • Max Depth = 152
                                                                                      • Call Chain = osMessageQueueGet ⇒ xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   xQueueReceiveFromISR -
                                                                                      • >>   xQueueReceive +
                                                                                        [Calls]
                                                                                        • >>   xQueueReceiveFromISR +
                                                                                        • >>   xQueueReceive
                                                                                        -
                                                                                        [Called By]
                                                                                        • >>   Task_height_cal +
                                                                                          [Called By]
                                                                                          • >>   Task_quad_ctrl +
                                                                                          • >>   Task_height_cal
                                                                                          • >>   HeightEstimation_Init
                                                                                          -

                                                                                          osMessageQueueNew (Thumb, 160 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueueNew)) +

                                                                                          osMessageQueueNew (Thumb, 160 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueueNew))

                                                                                          [Stack]

                                                                                          • Max Depth = 160
                                                                                          • Call Chain = osMessageQueueNew ⇒ xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   xQueueGenericCreateStatic -
                                                                                          • >>   xQueueGenericCreate -
                                                                                          • >>   vQueueAddToRegistry +
                                                                                            [Calls]
                                                                                            • >>   xQueueGenericCreateStatic +
                                                                                            • >>   xQueueGenericCreate +
                                                                                            • >>   vQueueAddToRegistry

                                                                                            [Called By]
                                                                                            • >>   Task_Init
                                                                                            -

                                                                                            osMessageQueuePut (Thumb, 142 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueuePut)) +

                                                                                            osMessageQueuePut (Thumb, 142 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueuePut))

                                                                                            [Stack]

                                                                                            • Max Depth = 152
                                                                                            • Call Chain = osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                            -
                                                                                            [Calls]
                                                                                            • >>   xQueueGenericSendFromISR -
                                                                                            • >>   xQueueGenericSend +
                                                                                              [Calls]
                                                                                              • >>   xQueueGenericSendFromISR +
                                                                                              • >>   xQueueGenericSend
                                                                                              -
                                                                                              [Called By]
                                                                                              • >>   Task_atti_esti +
                                                                                                [Called By]
                                                                                                • >>   Task_height_cal +
                                                                                                • >>   Task_cmd +
                                                                                                • >>   Task_atti_esti

                                                                                                osThreadFlagsSet (Thumb, 126 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osThreadFlagsSet))

                                                                                                [Stack]

                                                                                                • Max Depth = 56
                                                                                                • Call Chain = osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
                                                                                                -
                                                                                                [Calls]
                                                                                                • >>   xTaskGenericNotifyFromISR -
                                                                                                • >>   xTaskGenericNotify +
                                                                                                  [Calls]
                                                                                                  • >>   xTaskGenericNotifyFromISR +
                                                                                                  • >>   xTaskGenericNotify

                                                                                                  [Called By]
                                                                                                  • >>   DEVICE_AT9S_RxCpltCallback
                                                                                                  • >>   BMI088_RxCpltCallback @@ -2322,7 +2458,7 @@ Global Symbols

                                                                                                    [Stack]
                                                                                                    • Max Depth = 104
                                                                                                    • Call Chain = osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert

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

                                                                                                    [Called By]
                                                                                                    • >>   DEVICE_AT9S_WaitDmaCplt
                                                                                                    • >>   BMI088_WaitNew @@ -2333,7 +2469,7 @@ Global Symbols

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

                                                                                                      [Stack]

                                                                                                      • Max Depth = 8
                                                                                                      • Call Chain = osThreadGetId
                                                                                                      -
                                                                                                      [Calls]
                                                                                                      • >>   xTaskGetCurrentTaskHandle +
                                                                                                        [Calls]
                                                                                                        • >>   xTaskGetCurrentTaskHandle

                                                                                                        [Called By]
                                                                                                        • >>   Task_Init
                                                                                                        • >>   StartDefaultTask @@ -2344,90 +2480,90 @@ Global Symbols

                                                                                                          osThreadNew (Thumb, 180 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osThreadNew))

                                                                                                          [Stack]

                                                                                                          • Max Depth = 184
                                                                                                          • Call Chain = osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                          -
                                                                                                          [Calls]
                                                                                                          • >>   xTaskCreateStatic -
                                                                                                          • >>   xTaskCreate +
                                                                                                            [Calls]
                                                                                                            • >>   xTaskCreateStatic +
                                                                                                            • >>   xTaskCreate

                                                                                                            [Called By]
                                                                                                            • >>   Task_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 = 128
                                                                                                            • Call Chain = osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                            -
                                                                                                            [Calls]
                                                                                                            • >>   vTaskDelete -
                                                                                                            • >>   eTaskGetState +
                                                                                                              [Calls]
                                                                                                              • >>   vTaskDelete +
                                                                                                              • >>   eTaskGetState

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

                                                                                                              pvPortMalloc (Thumb, 330 bytes, Stack size 32 bytes, heap_4.o(.text.pvPortMalloc)) +

                                                                                                              pvPortMalloc (Thumb, 330 bytes, Stack size 32 bytes, heap_4.o(.text.pvPortMalloc))

                                                                                                              [Stack]

                                                                                                              • Max Depth = 112
                                                                                                              • Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                              -
                                                                                                              [Calls]
                                                                                                              • >>   xTaskResumeAll -
                                                                                                              • >>   vTaskSuspendAll -
                                                                                                              • >>   prvInsertBlockIntoFreeList -
                                                                                                              • >>   prvHeapInit +
                                                                                                                [Calls]
                                                                                                                • >>   xTaskResumeAll +
                                                                                                                • >>   vTaskSuspendAll +
                                                                                                                • >>   prvInsertBlockIntoFreeList +
                                                                                                                • >>   prvHeapInit
                                                                                                                -
                                                                                                                [Called By]
                                                                                                                • >>   xTaskCreate -
                                                                                                                • >>   xQueueGenericCreate +
                                                                                                                  [Called By]
                                                                                                                  • >>   xTaskCreate +
                                                                                                                  • >>   xQueueGenericCreate
                                                                                                                  -

                                                                                                                  pxPortInitialiseStack (Thumb, 40 bytes, Stack size 0 bytes, port.o(.text.pxPortInitialiseStack)) -

                                                                                                                  [Called By]

                                                                                                                  • >>   prvInitialiseNewTask +

                                                                                                                    pxPortInitialiseStack (Thumb, 40 bytes, Stack size 0 bytes, port.o(.text.pxPortInitialiseStack)) +

                                                                                                                    [Called By]

                                                                                                                    • >>   prvInitialiseNewTask
                                                                                                                    -

                                                                                                                    spl06_config_pressure (Thumb, 60 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_config_pressure)) +

                                                                                                                    spl06_config_pressure (Thumb, 60 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_config_pressure))

                                                                                                                    [Stack]

                                                                                                                    • Max Depth = 136
                                                                                                                    • Call Chain = spl06_config_pressure ⇒ spl06_write_reg ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                    -
                                                                                                                    [Calls]
                                                                                                                    • >>   spl06_write_reg -
                                                                                                                    • >>   spl06_read_reg +
                                                                                                                      [Calls]
                                                                                                                      • >>   spl06_write_reg +
                                                                                                                      • >>   spl06_read_reg

                                                                                                                      [Called By]
                                                                                                                      • >>   SPL06_Init
                                                                                                                      -

                                                                                                                      spl06_config_temperature (Thumb, 64 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_config_temperature)) +

                                                                                                                      spl06_config_temperature (Thumb, 64 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_config_temperature))

                                                                                                                      [Stack]

                                                                                                                      • Max Depth = 136
                                                                                                                      • Call Chain = spl06_config_temperature ⇒ spl06_write_reg ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                      -
                                                                                                                      [Calls]
                                                                                                                      • >>   spl06_write_reg -
                                                                                                                      • >>   spl06_read_reg +
                                                                                                                        [Calls]
                                                                                                                        • >>   spl06_write_reg +
                                                                                                                        • >>   spl06_read_reg

                                                                                                                        [Called By]
                                                                                                                        • >>   SPL06_Init
                                                                                                                        -

                                                                                                                        spl06_get_calib_param (Thumb, 262 bytes, Stack size 24 bytes, spl06_1.o(.text.spl06_get_calib_param)) +

                                                                                                                        spl06_get_calib_param (Thumb, 262 bytes, Stack size 24 bytes, spl06_1.o(.text.spl06_get_calib_param))

                                                                                                                        [Stack]

                                                                                                                        • Max Depth = 144
                                                                                                                        • Call Chain = spl06_get_calib_param ⇒ spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                        -
                                                                                                                        [Calls]
                                                                                                                        • >>   spl06_read_reg +
                                                                                                                          [Calls]
                                                                                                                          • >>   spl06_read_reg

                                                                                                                          [Called By]
                                                                                                                          • >>   SPL06_Init
                                                                                                                          -

                                                                                                                          spl06_get_measure_status (Thumb, 10 bytes, Stack size 8 bytes, spl06_1.o(.text.spl06_get_measure_status)) +

                                                                                                                          spl06_get_measure_status (Thumb, 10 bytes, Stack size 8 bytes, spl06_1.o(.text.spl06_get_measure_status))

                                                                                                                          [Stack]

                                                                                                                          • Max Depth = 128
                                                                                                                          • Call Chain = spl06_get_measure_status ⇒ spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                          -
                                                                                                                          [Calls]
                                                                                                                          • >>   spl06_read_reg +
                                                                                                                            [Calls]
                                                                                                                            • >>   spl06_read_reg

                                                                                                                            [Called By]
                                                                                                                            • >>   SPL06_Init
                                                                                                                            -

                                                                                                                            spl06_get_pressure_adc (Thumb, 42 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_get_pressure_adc)) +

                                                                                                                            spl06_get_pressure_adc (Thumb, 42 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_get_pressure_adc))

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 136
                                                                                                                            • Call Chain = spl06_get_pressure_adc ⇒ spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   spl06_read_reg +
                                                                                                                              [Calls]
                                                                                                                              • >>   spl06_read_reg

                                                                                                                              [Called By]
                                                                                                                              • >>   SPL06_Update
                                                                                                                              -

                                                                                                                              spl06_get_temperature_adc (Thumb, 42 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_get_temperature_adc)) +

                                                                                                                              spl06_get_temperature_adc (Thumb, 42 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_get_temperature_adc))

                                                                                                                              [Stack]

                                                                                                                              • Max Depth = 136
                                                                                                                              • Call Chain = spl06_get_temperature_adc ⇒ spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                              -
                                                                                                                              [Calls]
                                                                                                                              • >>   spl06_read_reg +
                                                                                                                                [Calls]
                                                                                                                                • >>   spl06_read_reg

                                                                                                                                [Called By]
                                                                                                                                • >>   SPL06_Update
                                                                                                                                -

                                                                                                                                spl06_read_reg (Thumb, 58 bytes, Stack size 8 bytes, spl06_1.o(.text.spl06_read_reg)) +

                                                                                                                                spl06_read_reg (Thumb, 58 bytes, Stack size 8 bytes, spl06_1.o(.text.spl06_read_reg))

                                                                                                                                [Stack]

                                                                                                                                • Max Depth = 120
                                                                                                                                • Call Chain = spl06_read_reg ⇒ IIC_Read_Byte ⇒ IIC_NAck ⇒ SDA_OUT ⇒ HAL_GPIO_Init

                                                                                                                                [Calls]
                                                                                                                                • >>   IIC_Wait_Ack @@ -2436,24 +2572,24 @@ Global Symbols
                                                                                                                                • >>   IIC_Send_Byte
                                                                                                                                • >>   IIC_Read_Byte
                                                                                                                                -
                                                                                                                                [Called By]
                                                                                                                                • >>   spl06_get_temperature_adc -
                                                                                                                                • >>   spl06_get_pressure_adc -
                                                                                                                                • >>   spl06_get_measure_status -
                                                                                                                                • >>   spl06_get_calib_param -
                                                                                                                                • >>   spl06_config_temperature -
                                                                                                                                • >>   spl06_config_pressure +
                                                                                                                                  [Called By]
                                                                                                                                  • >>   spl06_get_temperature_adc +
                                                                                                                                  • >>   spl06_get_pressure_adc +
                                                                                                                                  • >>   spl06_get_measure_status +
                                                                                                                                  • >>   spl06_get_calib_param +
                                                                                                                                  • >>   spl06_config_temperature +
                                                                                                                                  • >>   spl06_config_pressure
                                                                                                                                  • >>   SPL06_Init
                                                                                                                                  -

                                                                                                                                  spl06_start (Thumb, 12 bytes, Stack size 8 bytes, spl06_1.o(.text.spl06_start)) +

                                                                                                                                  spl06_start (Thumb, 12 bytes, Stack size 8 bytes, spl06_1.o(.text.spl06_start))

                                                                                                                                  [Stack]

                                                                                                                                  • Max Depth = 128
                                                                                                                                  • Call Chain = spl06_start ⇒ spl06_write_reg ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ SDA_OUT ⇒ HAL_GPIO_Init
                                                                                                                                  -
                                                                                                                                  [Calls]
                                                                                                                                  • >>   spl06_write_reg +
                                                                                                                                    [Calls]
                                                                                                                                    • >>   spl06_write_reg

                                                                                                                                    [Called By]
                                                                                                                                    • >>   SPL06_Init
                                                                                                                                    -

                                                                                                                                    spl06_write_reg (Thumb, 66 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_write_reg)) +

                                                                                                                                    spl06_write_reg (Thumb, 66 bytes, Stack size 16 bytes, spl06_1.o(.text.spl06_write_reg))

                                                                                                                                    [Stack]

                                                                                                                                    • Max Depth = 120
                                                                                                                                    • Call Chain = spl06_write_reg ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ SDA_OUT ⇒ HAL_GPIO_Init

                                                                                                                                    [Calls]
                                                                                                                                    • >>   IIC_Wait_Ack @@ -2461,531 +2597,531 @@ Global Symbols
                                                                                                                                    • >>   IIC_Start
                                                                                                                                    • >>   IIC_Send_Byte
                                                                                                                                    -
                                                                                                                                    [Called By]
                                                                                                                                    • >>   spl06_start -
                                                                                                                                    • >>   spl06_config_temperature -
                                                                                                                                    • >>   spl06_config_pressure +
                                                                                                                                      [Called By]
                                                                                                                                      • >>   spl06_start +
                                                                                                                                      • >>   spl06_config_temperature +
                                                                                                                                      • >>   spl06_config_pressure
                                                                                                                                      • >>   SPL06_Init
                                                                                                                                      -

                                                                                                                                      uxListRemove (Thumb, 36 bytes, Stack size 0 bytes, list.o(.text.uxListRemove)) -

                                                                                                                                      [Called By]

                                                                                                                                      • >>   prvSwitchTimerLists -
                                                                                                                                      • >>   prvProcessReceivedCommands -
                                                                                                                                      • >>   prvProcessExpiredTimer -
                                                                                                                                      • >>   xTaskIncrementTick -
                                                                                                                                      • >>   vTaskDelete -
                                                                                                                                      • >>   prvCheckTasksWaitingTermination -
                                                                                                                                      • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                      • >>   xTaskGenericNotifyFromISR -
                                                                                                                                      • >>   xTaskGenericNotify -
                                                                                                                                      • >>   xTaskRemoveFromEventList -
                                                                                                                                      • >>   xTaskPriorityDisinherit -
                                                                                                                                      • >>   xTaskResumeAll +

                                                                                                                                        uxListRemove (Thumb, 36 bytes, Stack size 0 bytes, list.o(.text.uxListRemove)) +

                                                                                                                                        [Called By]

                                                                                                                                        • >>   prvSwitchTimerLists +
                                                                                                                                        • >>   prvProcessReceivedCommands +
                                                                                                                                        • >>   prvProcessExpiredTimer +
                                                                                                                                        • >>   xTaskIncrementTick +
                                                                                                                                        • >>   vTaskDelete +
                                                                                                                                        • >>   prvCheckTasksWaitingTermination +
                                                                                                                                        • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                        • >>   xTaskGenericNotifyFromISR +
                                                                                                                                        • >>   xTaskGenericNotify +
                                                                                                                                        • >>   xTaskRemoveFromEventList +
                                                                                                                                        • >>   xTaskPriorityDisinherit +
                                                                                                                                        • >>   xTaskResumeAll
                                                                                                                                        -

                                                                                                                                        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
                                                                                                                                            -

                                                                                                                                            vApplicationStackOverflowHook (Thumb, 2 bytes, Stack size 0 bytes, freertos.o(.text.vApplicationStackOverflowHook)) +

                                                                                                                                            vApplicationStackOverflowHook (Thumb, 2 bytes, Stack size 0 bytes, freertos.o(.text.vApplicationStackOverflowHook))

                                                                                                                                            [Called By]

                                                                                                                                            • >>   vTaskSwitchContext
                                                                                                                                            -

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

                                                                                                                                            [Called By]

                                                                                                                                            • >>   prvCheckForValidListAndQueue -
                                                                                                                                            • >>   prvInitialiseTaskLists -
                                                                                                                                            • >>   xQueueGenericReset +

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

                                                                                                                                              [Called By]

                                                                                                                                              • >>   prvCheckForValidListAndQueue +
                                                                                                                                              • >>   prvInitialiseTaskLists +
                                                                                                                                              • >>   xQueueGenericReset
                                                                                                                                              -

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

                                                                                                                                              [Called By]

                                                                                                                                              • >>   prvInitialiseNewTask +

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

                                                                                                                                                [Called By]

                                                                                                                                                • >>   prvInitialiseNewTask
                                                                                                                                                -

                                                                                                                                                vListInsert (Thumb, 58 bytes, Stack size 8 bytes, list.o(.text.vListInsert)) +

                                                                                                                                                vListInsert (Thumb, 58 bytes, Stack size 8 bytes, list.o(.text.vListInsert))

                                                                                                                                                [Stack]

                                                                                                                                                • Max Depth = 8
                                                                                                                                                • Call Chain = vListInsert
                                                                                                                                                -
                                                                                                                                                [Called By]
                                                                                                                                                • >>   prvSwitchTimerLists -
                                                                                                                                                • >>   prvInsertTimerInActiveList -
                                                                                                                                                • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                • >>   vTaskPlaceOnEventList +
                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   prvSwitchTimerLists +
                                                                                                                                                  • >>   prvInsertTimerInActiveList +
                                                                                                                                                  • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                  • >>   vTaskPlaceOnEventList
                                                                                                                                                  -

                                                                                                                                                  vListInsertEnd (Thumb, 28 bytes, Stack size 0 bytes, list.o(.text.vListInsertEnd)) -

                                                                                                                                                  [Called By]

                                                                                                                                                  • >>   xTaskIncrementTick -
                                                                                                                                                  • >>   vTaskDelete -
                                                                                                                                                  • >>   prvAddNewTaskToReadyList -
                                                                                                                                                  • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                  • >>   xTaskGenericNotifyFromISR -
                                                                                                                                                  • >>   xTaskGenericNotify -
                                                                                                                                                  • >>   xTaskRemoveFromEventList -
                                                                                                                                                  • >>   xTaskPriorityDisinherit -
                                                                                                                                                  • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                  • >>   xTaskResumeAll +

                                                                                                                                                    vListInsertEnd (Thumb, 28 bytes, Stack size 0 bytes, list.o(.text.vListInsertEnd)) +

                                                                                                                                                    [Called By]

                                                                                                                                                    • >>   xTaskIncrementTick +
                                                                                                                                                    • >>   vTaskDelete +
                                                                                                                                                    • >>   prvAddNewTaskToReadyList +
                                                                                                                                                    • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                    • >>   xTaskGenericNotifyFromISR +
                                                                                                                                                    • >>   xTaskGenericNotify +
                                                                                                                                                    • >>   xTaskRemoveFromEventList +
                                                                                                                                                    • >>   xTaskPriorityDisinherit +
                                                                                                                                                    • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                    • >>   xTaskResumeAll
                                                                                                                                                    -

                                                                                                                                                    vPortEnterCritical (Thumb, 70 bytes, Stack size 0 bytes, port.o(.text.vPortEnterCritical)) -

                                                                                                                                                    [Called By]

                                                                                                                                                    • >>   prvCheckForValidListAndQueue -
                                                                                                                                                    • >>   vTaskDelete -
                                                                                                                                                    • >>   eTaskGetState -
                                                                                                                                                    • >>   prvCheckTasksWaitingTermination -
                                                                                                                                                    • >>   prvAddNewTaskToReadyList -
                                                                                                                                                    • >>   xTaskNotifyWait -
                                                                                                                                                    • >>   xTaskGenericNotify -
                                                                                                                                                    • >>   xTaskCheckForTimeOut -
                                                                                                                                                    • >>   xQueueReceive -
                                                                                                                                                    • >>   xQueueGenericSend -
                                                                                                                                                    • >>   xQueueGenericReset -
                                                                                                                                                    • >>   vQueueWaitForMessageRestricted -
                                                                                                                                                    • >>   prvUnlockQueue -
                                                                                                                                                    • >>   prvIsQueueFull -
                                                                                                                                                    • >>   prvIsQueueEmpty -
                                                                                                                                                    • >>   xTaskResumeAll +

                                                                                                                                                      vPortEnterCritical (Thumb, 70 bytes, Stack size 0 bytes, port.o(.text.vPortEnterCritical)) +

                                                                                                                                                      [Called By]

                                                                                                                                                      • >>   prvCheckForValidListAndQueue +
                                                                                                                                                      • >>   vTaskDelete +
                                                                                                                                                      • >>   eTaskGetState +
                                                                                                                                                      • >>   prvCheckTasksWaitingTermination +
                                                                                                                                                      • >>   prvAddNewTaskToReadyList +
                                                                                                                                                      • >>   xTaskNotifyWait +
                                                                                                                                                      • >>   xTaskGenericNotify +
                                                                                                                                                      • >>   xTaskCheckForTimeOut +
                                                                                                                                                      • >>   xQueueReceive +
                                                                                                                                                      • >>   xQueueGenericSend +
                                                                                                                                                      • >>   xQueueGenericReset +
                                                                                                                                                      • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                      • >>   prvUnlockQueue +
                                                                                                                                                      • >>   prvIsQueueFull +
                                                                                                                                                      • >>   prvIsQueueEmpty +
                                                                                                                                                      • >>   xTaskResumeAll
                                                                                                                                                      -

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

                                                                                                                                                      [Called By]

                                                                                                                                                      • >>   prvCheckForValidListAndQueue -
                                                                                                                                                      • >>   vTaskDelete -
                                                                                                                                                      • >>   eTaskGetState -
                                                                                                                                                      • >>   prvCheckTasksWaitingTermination -
                                                                                                                                                      • >>   prvAddNewTaskToReadyList -
                                                                                                                                                      • >>   xTaskNotifyWait -
                                                                                                                                                      • >>   xTaskGenericNotify -
                                                                                                                                                      • >>   xTaskCheckForTimeOut -
                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                      • >>   xQueueGenericSend -
                                                                                                                                                      • >>   xQueueGenericReset -
                                                                                                                                                      • >>   vQueueWaitForMessageRestricted -
                                                                                                                                                      • >>   prvUnlockQueue -
                                                                                                                                                      • >>   prvIsQueueFull -
                                                                                                                                                      • >>   prvIsQueueEmpty -
                                                                                                                                                      • >>   xTaskResumeAll +

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

                                                                                                                                                        [Called By]

                                                                                                                                                        • >>   prvCheckForValidListAndQueue +
                                                                                                                                                        • >>   vTaskDelete +
                                                                                                                                                        • >>   eTaskGetState +
                                                                                                                                                        • >>   prvCheckTasksWaitingTermination +
                                                                                                                                                        • >>   prvAddNewTaskToReadyList +
                                                                                                                                                        • >>   xTaskNotifyWait +
                                                                                                                                                        • >>   xTaskGenericNotify +
                                                                                                                                                        • >>   xTaskCheckForTimeOut +
                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                        • >>   xQueueGenericSend +
                                                                                                                                                        • >>   xQueueGenericReset +
                                                                                                                                                        • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                        • >>   prvUnlockQueue +
                                                                                                                                                        • >>   prvIsQueueFull +
                                                                                                                                                        • >>   prvIsQueueEmpty +
                                                                                                                                                        • >>   xTaskResumeAll
                                                                                                                                                        -

                                                                                                                                                        vPortFree (Thumb, 138 bytes, Stack size 16 bytes, heap_4.o(.text.vPortFree)) +

                                                                                                                                                        vPortFree (Thumb, 138 bytes, Stack size 16 bytes, heap_4.o(.text.vPortFree))

                                                                                                                                                        [Stack]

                                                                                                                                                        • Max Depth = 96
                                                                                                                                                        • Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                        -
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   xTaskResumeAll -
                                                                                                                                                        • >>   vTaskSuspendAll -
                                                                                                                                                        • >>   prvInsertBlockIntoFreeList +
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   xTaskResumeAll +
                                                                                                                                                          • >>   vTaskSuspendAll +
                                                                                                                                                          • >>   prvInsertBlockIntoFreeList
                                                                                                                                                          -
                                                                                                                                                          [Called By]
                                                                                                                                                          • >>   prvProcessReceivedCommands -
                                                                                                                                                          • >>   xTaskCreate -
                                                                                                                                                          • >>   prvDeleteTCB +
                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   prvProcessReceivedCommands +
                                                                                                                                                            • >>   xTaskCreate +
                                                                                                                                                            • >>   prvDeleteTCB
                                                                                                                                                            -

                                                                                                                                                            vPortSetupTimerInterrupt (Thumb, 52 bytes, Stack size 0 bytes, port.o(.text.vPortSetupTimerInterrupt)) -

                                                                                                                                                            [Called By]

                                                                                                                                                            • >>   xPortStartScheduler +

                                                                                                                                                              vPortSetupTimerInterrupt (Thumb, 52 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]

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

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

                                                                                                                                                                [Called By]

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

                                                                                                                                                                vQueueAddToRegistry (Thumb, 40 bytes, Stack size 0 bytes, queue.o(.text.vQueueAddToRegistry)) -

                                                                                                                                                                [Called By]

                                                                                                                                                                • >>   prvCheckForValidListAndQueue -
                                                                                                                                                                • >>   osMessageQueueNew +

                                                                                                                                                                  vQueueAddToRegistry (Thumb, 40 bytes, Stack size 0 bytes, queue.o(.text.vQueueAddToRegistry)) +

                                                                                                                                                                  [Called By]

                                                                                                                                                                  • >>   prvCheckForValidListAndQueue +
                                                                                                                                                                  • >>   osMessageQueueNew
                                                                                                                                                                  -

                                                                                                                                                                  vQueueWaitForMessageRestricted (Thumb, 68 bytes, Stack size 16 bytes, queue.o(.text.vQueueWaitForMessageRestricted)) +

                                                                                                                                                                  vQueueWaitForMessageRestricted (Thumb, 68 bytes, Stack size 16 bytes, queue.o(.text.vQueueWaitForMessageRestricted))

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 64
                                                                                                                                                                  • Call Chain = vQueueWaitForMessageRestricted ⇒ vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                                  • >>   prvUnlockQueue -
                                                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                                                  • >>   vPortEnterCritical +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                                    • >>   prvUnlockQueue +
                                                                                                                                                                    • >>   vPortExitCritical +
                                                                                                                                                                    • >>   vPortEnterCritical
                                                                                                                                                                    -
                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   prvProcessTimerOrBlockTask
                                                                                                                                                                      -

                                                                                                                                                                      vTaskDelay (Thumb, 84 bytes, Stack size 8 bytes, tasks.o(.text.vTaskDelay)) +

                                                                                                                                                                      vTaskDelay (Thumb, 84 bytes, Stack size 8 bytes, tasks.o(.text.vTaskDelay))

                                                                                                                                                                      [Stack]

                                                                                                                                                                      • Max Depth = 88
                                                                                                                                                                      • Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                      -
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                                      • >>   xTaskResumeAll -
                                                                                                                                                                      • >>   vTaskSuspendAll +
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                                        • >>   xTaskResumeAll +
                                                                                                                                                                        • >>   vTaskSuspendAll

                                                                                                                                                                        [Called By]
                                                                                                                                                                        • >>   osDelay
                                                                                                                                                                        -

                                                                                                                                                                        vTaskDelayUntil (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(.text.vTaskDelayUntil)) +

                                                                                                                                                                        vTaskDelayUntil (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(.text.vTaskDelayUntil))

                                                                                                                                                                        [Stack]

                                                                                                                                                                        • Max Depth = 96
                                                                                                                                                                        • Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                        -
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                                        • >>   xTaskResumeAll -
                                                                                                                                                                        • >>   vTaskSuspendAll +
                                                                                                                                                                          [Calls]
                                                                                                                                                                          • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                                          • >>   xTaskResumeAll +
                                                                                                                                                                          • >>   vTaskSuspendAll
                                                                                                                                                                          -
                                                                                                                                                                          [Called By]
                                                                                                                                                                          • >>   osDelayUntil +
                                                                                                                                                                            [Called By]
                                                                                                                                                                            • >>   osDelayUntil
                                                                                                                                                                            -

                                                                                                                                                                            vTaskDelete (Thumb, 194 bytes, Stack size 16 bytes, tasks.o(.text.vTaskDelete)) +

                                                                                                                                                                            vTaskDelete (Thumb, 194 bytes, Stack size 16 bytes, tasks.o(.text.vTaskDelete))

                                                                                                                                                                            [Stack]

                                                                                                                                                                            • Max Depth = 120
                                                                                                                                                                            • Call Chain = vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                            -
                                                                                                                                                                            [Calls]
                                                                                                                                                                            • >>   prvResetNextTaskUnblockTime -
                                                                                                                                                                            • >>   prvDeleteTCB -
                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                            • >>   uxListRemove -
                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                            • >>   vPortEnterCritical +
                                                                                                                                                                              [Calls]
                                                                                                                                                                              • >>   prvResetNextTaskUnblockTime +
                                                                                                                                                                              • >>   prvDeleteTCB +
                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                              • >>   uxListRemove +
                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                              • >>   vPortEnterCritical
                                                                                                                                                                              -
                                                                                                                                                                              [Called By]
                                                                                                                                                                              • >>   osThreadTerminate +
                                                                                                                                                                                [Called By]
                                                                                                                                                                                • >>   osThreadTerminate
                                                                                                                                                                                -

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

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                • >>   xQueueReceive -
                                                                                                                                                                                • >>   xQueueGenericSend +

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

                                                                                                                                                                                  [Called By]

                                                                                                                                                                                  • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                  • >>   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, 50 bytes, Stack size 8 bytes, tasks.o(.text.vTaskPlaceOnEventList)) +

                                                                                                                                                                                    vTaskPlaceOnEventList (Thumb, 50 bytes, Stack size 8 bytes, tasks.o(.text.vTaskPlaceOnEventList))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 40
                                                                                                                                                                                    • Call Chain = vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                                    -
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                                                    • >>   vListInsert +
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                                                      • >>   vListInsert
                                                                                                                                                                                      -
                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                      • >>   xQueueGenericSend +
                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                                                        • >>   xQueueGenericSend
                                                                                                                                                                                        -

                                                                                                                                                                                        vTaskPlaceOnEventListRestricted (Thumb, 62 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted)) +

                                                                                                                                                                                        vTaskPlaceOnEventListRestricted (Thumb, 62 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted))

                                                                                                                                                                                        [Stack]

                                                                                                                                                                                        • Max Depth = 48
                                                                                                                                                                                        • Call Chain = vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                                        -
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                                                        • >>   vListInsertEnd +
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                                                          • >>   vListInsertEnd
                                                                                                                                                                                          -
                                                                                                                                                                                          [Called By]
                                                                                                                                                                                          • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   vQueueWaitForMessageRestricted
                                                                                                                                                                                            -

                                                                                                                                                                                            vTaskStartScheduler (Thumb, 156 bytes, Stack size 32 bytes, tasks.o(.text.vTaskStartScheduler)) +

                                                                                                                                                                                            vTaskStartScheduler (Thumb, 156 bytes, Stack size 32 bytes, tasks.o(.text.vTaskStartScheduler))

                                                                                                                                                                                            [Stack]

                                                                                                                                                                                            • Max Depth = 160
                                                                                                                                                                                            • Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                            -
                                                                                                                                                                                            [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]

                                                                                                                                                                                                • >>   prvProcessTimerOrBlockTask -
                                                                                                                                                                                                • >>   vTaskDelayUntil -
                                                                                                                                                                                                • >>   vTaskDelay -
                                                                                                                                                                                                • >>   xQueueReceive -
                                                                                                                                                                                                • >>   xQueueGenericSend -
                                                                                                                                                                                                • >>   vPortFree -
                                                                                                                                                                                                • >>   pvPortMalloc -
                                                                                                                                                                                                • >>   osKernelLock +

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

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                                                  • >>   vTaskDelayUntil +
                                                                                                                                                                                                  • >>   vTaskDelay +
                                                                                                                                                                                                  • >>   xQueueReceive +
                                                                                                                                                                                                  • >>   xQueueGenericSend +
                                                                                                                                                                                                  • >>   vPortFree +
                                                                                                                                                                                                  • >>   pvPortMalloc +
                                                                                                                                                                                                  • >>   osKernelLock

                                                                                                                                                                                                  vTaskSwitchContext (Thumb, 202 bytes, Stack size 8 bytes, tasks.o(.text.vTaskSwitchContext))

                                                                                                                                                                                                  [Stack]

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

                                                                                                                                                                                                      xPortStartScheduler (Thumb, 274 bytes, Stack size 16 bytes, port.o(.text.xPortStartScheduler)) +

                                                                                                                                                                                                      xPortStartScheduler (Thumb, 274 bytes, Stack size 16 bytes, port.o(.text.xPortStartScheduler))

                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                      • Max Depth = 24
                                                                                                                                                                                                      • Call Chain = xPortStartScheduler ⇒ vTaskSwitchContext

                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   vTaskSwitchContext -
                                                                                                                                                                                                      • >>   vPortSetupTimerInterrupt -
                                                                                                                                                                                                      • >>   vPortEnableVFP -
                                                                                                                                                                                                      • >>   prvTaskExitError -
                                                                                                                                                                                                      • >>   prvPortStartFirstTask +
                                                                                                                                                                                                      • >>   vPortSetupTimerInterrupt +
                                                                                                                                                                                                      • >>   vPortEnableVFP +
                                                                                                                                                                                                      • >>   prvTaskExitError +
                                                                                                                                                                                                      • >>   prvPortStartFirstTask
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   vTaskStartScheduler +
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   vTaskStartScheduler
                                                                                                                                                                                                        -

                                                                                                                                                                                                        xPortSysTickHandler (Thumb, 46 bytes, Stack size 8 bytes, port.o(.text.xPortSysTickHandler)) +

                                                                                                                                                                                                        xPortSysTickHandler (Thumb, 46 bytes, Stack size 8 bytes, port.o(.text.xPortSysTickHandler))

                                                                                                                                                                                                        [Stack]

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

                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                          • >>   SysTick_Handler
                                                                                                                                                                                                          -

                                                                                                                                                                                                          xQueueGenericCreate (Thumb, 70 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreate)) +

                                                                                                                                                                                                          xQueueGenericCreate (Thumb, 70 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreate))

                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                          • Max Depth = 136
                                                                                                                                                                                                          • Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                          -
                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                          • >>   prvInitialiseNewQueue -
                                                                                                                                                                                                          • >>   pvPortMalloc +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   prvInitialiseNewQueue +
                                                                                                                                                                                                            • >>   pvPortMalloc
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   osMessageQueueNew +
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   osMessageQueueNew
                                                                                                                                                                                                              -

                                                                                                                                                                                                              xQueueGenericCreateStatic (Thumb, 150 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreateStatic)) +

                                                                                                                                                                                                              xQueueGenericCreateStatic (Thumb, 150 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreateStatic))

                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                              • Max Depth = 72
                                                                                                                                                                                                              • Call Chain = xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                              -
                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   prvInitialiseNewQueue +
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   prvInitialiseNewQueue
                                                                                                                                                                                                                -
                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   prvCheckForValidListAndQueue -
                                                                                                                                                                                                                • >>   osMessageQueueNew +
                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   prvCheckForValidListAndQueue +
                                                                                                                                                                                                                  • >>   osMessageQueueNew
                                                                                                                                                                                                                  -

                                                                                                                                                                                                                  xQueueGenericReset (Thumb, 126 bytes, Stack size 16 bytes, queue.o(.text.xQueueGenericReset)) +

                                                                                                                                                                                                                  xQueueGenericReset (Thumb, 126 bytes, Stack size 16 bytes, queue.o(.text.xQueueGenericReset))

                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                  • Call Chain = xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                  -
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                                                                                                  • >>   vPortEnterCritical -
                                                                                                                                                                                                                  • >>   vListInitialise +
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                    • >>   vPortExitCritical +
                                                                                                                                                                                                                    • >>   vPortEnterCritical +
                                                                                                                                                                                                                    • >>   vListInitialise
                                                                                                                                                                                                                    -
                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                    • >>   prvInitialiseNewQueue +
                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                      • >>   prvInitialiseNewQueue
                                                                                                                                                                                                                      -

                                                                                                                                                                                                                      xQueueGenericSend (Thumb, 418 bytes, Stack size 48 bytes, queue.o(.text.xQueueGenericSend)) +

                                                                                                                                                                                                                      xQueueGenericSend (Thumb, 418 bytes, Stack size 48 bytes, queue.o(.text.xQueueGenericSend))

                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                      • Max Depth = 128
                                                                                                                                                                                                                      • Call Chain = xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                      -
                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                      • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                      • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                      • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                      • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                      • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                                                      • >>   prvUnlockQueue -
                                                                                                                                                                                                                      • >>   prvIsQueueFull -
                                                                                                                                                                                                                      • >>   prvCopyDataToQueue -
                                                                                                                                                                                                                      • >>   xTaskResumeAll -
                                                                                                                                                                                                                      • >>   vTaskSuspendAll -
                                                                                                                                                                                                                      • >>   vPortExitCritical -
                                                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                        • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                        • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                        • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                        • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                                                        • >>   prvUnlockQueue +
                                                                                                                                                                                                                        • >>   prvIsQueueFull +
                                                                                                                                                                                                                        • >>   prvCopyDataToQueue +
                                                                                                                                                                                                                        • >>   xTaskResumeAll +
                                                                                                                                                                                                                        • >>   vTaskSuspendAll +
                                                                                                                                                                                                                        • >>   vPortExitCritical +
                                                                                                                                                                                                                        • >>   vPortEnterCritical
                                                                                                                                                                                                                        -
                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   xTimerGenericCommand -
                                                                                                                                                                                                                        • >>   osMessageQueuePut +
                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   xTimerGenericCommand +
                                                                                                                                                                                                                          • >>   osMessageQueuePut
                                                                                                                                                                                                                          -

                                                                                                                                                                                                                          xQueueGenericSendFromISR (Thumb, 206 bytes, Stack size 32 bytes, queue.o(.text.xQueueGenericSendFromISR)) +

                                                                                                                                                                                                                          xQueueGenericSendFromISR (Thumb, 206 bytes, Stack size 32 bytes, queue.o(.text.xQueueGenericSendFromISR))

                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                          • Max Depth = 64
                                                                                                                                                                                                                          • Call Chain = xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
                                                                                                                                                                                                                          -
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                          • >>   vPortValidateInterruptPriority -
                                                                                                                                                                                                                          • >>   prvCopyDataToQueue +
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                            • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                                                            • >>   prvCopyDataToQueue
                                                                                                                                                                                                                            -
                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   xTimerGenericCommand -
                                                                                                                                                                                                                            • >>   osMessageQueuePut +
                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   xTimerGenericCommand +
                                                                                                                                                                                                                              • >>   osMessageQueuePut
                                                                                                                                                                                                                              -

                                                                                                                                                                                                                              xQueueReceive (Thumb, 388 bytes, Stack size 56 bytes, queue.o(.text.xQueueReceive)) +

                                                                                                                                                                                                                              xQueueReceive (Thumb, 388 bytes, Stack size 56 bytes, queue.o(.text.xQueueReceive))

                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                              • Max Depth = 136
                                                                                                                                                                                                                              • Call Chain = xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                              -
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                              • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                              • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                              • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                              • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                                                              • >>   prvUnlockQueue -
                                                                                                                                                                                                                              • >>   prvIsQueueEmpty -
                                                                                                                                                                                                                              • >>   prvCopyDataFromQueue -
                                                                                                                                                                                                                              • >>   xTaskResumeAll -
                                                                                                                                                                                                                              • >>   vTaskSuspendAll -
                                                                                                                                                                                                                              • >>   vPortExitCritical -
                                                                                                                                                                                                                              • >>   vPortEnterCritical +
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                                • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                                                                • >>   prvUnlockQueue +
                                                                                                                                                                                                                                • >>   prvIsQueueEmpty +
                                                                                                                                                                                                                                • >>   prvCopyDataFromQueue +
                                                                                                                                                                                                                                • >>   xTaskResumeAll +
                                                                                                                                                                                                                                • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                • >>   vPortExitCritical +
                                                                                                                                                                                                                                • >>   vPortEnterCritical
                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   prvProcessReceivedCommands +
                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   prvProcessReceivedCommands
                                                                                                                                                                                                                                  • >>   osMessageQueueGet
                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                  xQueueReceiveFromISR (Thumb, 170 bytes, Stack size 32 bytes, queue.o(.text.xQueueReceiveFromISR)) +

                                                                                                                                                                                                                                  xQueueReceiveFromISR (Thumb, 170 bytes, Stack size 32 bytes, queue.o(.text.xQueueReceiveFromISR))

                                                                                                                                                                                                                                  [Stack]

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

                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   osMessageQueueGet
                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                    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]
                                                                                                                                                                                                                                    • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                                                                    • >>   vPortExitCritical -
                                                                                                                                                                                                                                    • >>   vPortEnterCritical +
                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                      • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                                                                      • >>   vPortExitCritical +
                                                                                                                                                                                                                                      • >>   vPortEnterCritical
                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                                                                      • >>   xQueueGenericSend +
                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                                                                                                        • >>   xQueueGenericSend
                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                        xTaskCreate (Thumb, 102 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreate)) +

                                                                                                                                                                                                                                        xTaskCreate (Thumb, 102 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreate))

                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                        • Max Depth = 152
                                                                                                                                                                                                                                        • Call Chain = xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   prvInitialiseNewTask -
                                                                                                                                                                                                                                        • >>   prvAddNewTaskToReadyList -
                                                                                                                                                                                                                                        • >>   vPortFree -
                                                                                                                                                                                                                                        • >>   pvPortMalloc +
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   prvInitialiseNewTask +
                                                                                                                                                                                                                                          • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                          • >>   vPortFree +
                                                                                                                                                                                                                                          • >>   pvPortMalloc

                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                          • >>   osThreadNew
                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                          xTaskCreateStatic (Thumb, 118 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreateStatic)) +

                                                                                                                                                                                                                                          xTaskCreateStatic (Thumb, 118 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreateStatic))

                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                          • Max Depth = 76
                                                                                                                                                                                                                                          • Call Chain = xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ __aeabi_memset4 ⇒ _memset_w
                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   prvInitialiseNewTask -
                                                                                                                                                                                                                                          • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   prvInitialiseNewTask +
                                                                                                                                                                                                                                            • >>   prvAddNewTaskToReadyList

                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   osThreadNew -
                                                                                                                                                                                                                                            • >>   xTimerCreateTimerTask -
                                                                                                                                                                                                                                            • >>   vTaskStartScheduler +
                                                                                                                                                                                                                                            • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                            • >>   vTaskStartScheduler
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            xTaskGenericNotify (Thumb, 252 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotify)) +

                                                                                                                                                                                                                                            xTaskGenericNotify (Thumb, 252 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotify))

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                                            • Call Chain = xTaskGenericNotify
                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                                                                                            • >>   uxListRemove -
                                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                                            • >>   vPortEnterCritical +
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                                                                                              • >>   uxListRemove +
                                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                                              • >>   vPortEnterCritical

                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   osThreadFlagsSet
                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                              xTaskGenericNotifyFromISR (Thumb, 298 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotifyFromISR)) +

                                                                                                                                                                                                                                              xTaskGenericNotifyFromISR (Thumb, 298 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotifyFromISR))

                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                              • Max Depth = 24
                                                                                                                                                                                                                                              • Call Chain = xTaskGenericNotifyFromISR
                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   vPortValidateInterruptPriority -
                                                                                                                                                                                                                                              • >>   vListInsertEnd -
                                                                                                                                                                                                                                              • >>   uxListRemove +
                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                                                                                • >>   vListInsertEnd +
                                                                                                                                                                                                                                                • >>   uxListRemove

                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                • >>   osThreadFlagsSet
                                                                                                                                                                                                                                                -

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

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

                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                • >>   osThreadGetId
                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                xTaskGetSchedulerState (Thumb, 38 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetSchedulerState)) +

                                                                                                                                                                                                                                                xTaskGetSchedulerState (Thumb, 38 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetSchedulerState))

                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                • >>   SysTick_Handler -
                                                                                                                                                                                                                                                • >>   xTimerGenericCommand -
                                                                                                                                                                                                                                                • >>   xQueueReceive -
                                                                                                                                                                                                                                                • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                • >>   osKernelUnlock -
                                                                                                                                                                                                                                                • >>   osKernelLock +
                                                                                                                                                                                                                                                • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                • >>   xQueueReceive +
                                                                                                                                                                                                                                                • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                • >>   osKernelUnlock +
                                                                                                                                                                                                                                                • >>   osKernelLock
                                                                                                                                                                                                                                                • >>   osKernelGetState

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

                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                • >>   prvSampleTimeNow +

                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                  • >>   prvSampleTimeNow
                                                                                                                                                                                                                                                  • >>   BSP_TIME_Get
                                                                                                                                                                                                                                                  • >>   osThreadFlagsWait -
                                                                                                                                                                                                                                                  • >>   osKernelGetTickCount -
                                                                                                                                                                                                                                                  • >>   osDelayUntil +
                                                                                                                                                                                                                                                  • >>   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, 338 bytes, Stack size 40 bytes, tasks.o(.text.xTaskIncrementTick)) +

                                                                                                                                                                                                                                                      xTaskIncrementTick (Thumb, 338 bytes, Stack size 40 bytes, tasks.o(.text.xTaskIncrementTick))

                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                      • Max Depth = 40
                                                                                                                                                                                                                                                      • Call Chain = xTaskIncrementTick
                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                      • >>   prvResetNextTaskUnblockTime -
                                                                                                                                                                                                                                                      • >>   vListInsertEnd -
                                                                                                                                                                                                                                                      • >>   uxListRemove +
                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                        • >>   prvResetNextTaskUnblockTime +
                                                                                                                                                                                                                                                        • >>   vListInsertEnd +
                                                                                                                                                                                                                                                        • >>   uxListRemove
                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   xPortSysTickHandler -
                                                                                                                                                                                                                                                        • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                          • >>   xPortSysTickHandler +
                                                                                                                                                                                                                                                          • >>   xTaskResumeAll
                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                          xTaskNotifyWait (Thumb, 144 bytes, Stack size 24 bytes, tasks.o(.text.xTaskNotifyWait)) +

                                                                                                                                                                                                                                                          xTaskNotifyWait (Thumb, 144 bytes, Stack size 24 bytes, tasks.o(.text.xTaskNotifyWait))

                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                                                                          • Call Chain = xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                          • >>   prvAddCurrentTaskToDelayedList -
                                                                                                                                                                                                                                                          • >>   vPortExitCritical -
                                                                                                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                                                                                                                            • >>   vPortExitCritical +
                                                                                                                                                                                                                                                            • >>   vPortEnterCritical

                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                            • >>   osThreadFlagsWait
                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                            xTaskPriorityDisinherit (Thumb, 146 bytes, Stack size 16 bytes, tasks.o(.text.xTaskPriorityDisinherit)) +

                                                                                                                                                                                                                                                            xTaskPriorityDisinherit (Thumb, 146 bytes, Stack size 16 bytes, tasks.o(.text.xTaskPriorityDisinherit))

                                                                                                                                                                                                                                                            [Stack]

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

                                                                                                                                                                                                                                                                xTaskRemoveFromEventList (Thumb, 142 bytes, Stack size 16 bytes, tasks.o(.text.xTaskRemoveFromEventList)) +

                                                                                                                                                                                                                                                                xTaskRemoveFromEventList (Thumb, 142 bytes, Stack size 16 bytes, tasks.o(.text.xTaskRemoveFromEventList))

                                                                                                                                                                                                                                                                [Stack]

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

                                                                                                                                                                                                                                                                    xTaskResumeAll (Thumb, 276 bytes, Stack size 40 bytes, tasks.o(.text.xTaskResumeAll)) +

                                                                                                                                                                                                                                                                    xTaskResumeAll (Thumb, 276 bytes, Stack size 40 bytes, tasks.o(.text.xTaskResumeAll))

                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                    • Max Depth = 80
                                                                                                                                                                                                                                                                    • Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                    • >>   xTaskIncrementTick -
                                                                                                                                                                                                                                                                    • >>   prvResetNextTaskUnblockTime -
                                                                                                                                                                                                                                                                    • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                    • >>   uxListRemove -
                                                                                                                                                                                                                                                                    • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                    • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                      • >>   xTaskIncrementTick +
                                                                                                                                                                                                                                                                      • >>   prvResetNextTaskUnblockTime +
                                                                                                                                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                      • >>   uxListRemove +
                                                                                                                                                                                                                                                                      • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                      • >>   prvProcessTimerOrBlockTask -
                                                                                                                                                                                                                                                                      • >>   vTaskDelayUntil -
                                                                                                                                                                                                                                                                      • >>   vTaskDelay -
                                                                                                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                      • >>   vPortFree -
                                                                                                                                                                                                                                                                      • >>   pvPortMalloc -
                                                                                                                                                                                                                                                                      • >>   osKernelUnlock +
                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                        • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                                                                                                                        • >>   vTaskDelayUntil +
                                                                                                                                                                                                                                                                        • >>   vTaskDelay +
                                                                                                                                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                                                                                                                                        • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                        • >>   vPortFree +
                                                                                                                                                                                                                                                                        • >>   pvPortMalloc +
                                                                                                                                                                                                                                                                        • >>   osKernelUnlock
                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                        xTimerCreateTimerTask (Thumb, 108 bytes, Stack size 32 bytes, timers.o(.text.xTimerCreateTimerTask)) +

                                                                                                                                                                                                                                                                        xTimerCreateTimerTask (Thumb, 108 bytes, Stack size 32 bytes, timers.o(.text.xTimerCreateTimerTask))

                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                        • Max Depth = 128
                                                                                                                                                                                                                                                                        • Call Chain = xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                        • >>   vApplicationGetTimerTaskMemory -
                                                                                                                                                                                                                                                                        • >>   prvCheckForValidListAndQueue -
                                                                                                                                                                                                                                                                        • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                          • >>   vApplicationGetTimerTaskMemory +
                                                                                                                                                                                                                                                                          • >>   prvCheckForValidListAndQueue +
                                                                                                                                                                                                                                                                          • >>   xTaskCreateStatic
                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                          • >>   vTaskStartScheduler +
                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                            • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                            xTimerGenericCommand (Thumb, 104 bytes, Stack size 24 bytes, timers.o(.text.xTimerGenericCommand)) +

                                                                                                                                                                                                                                                                            xTimerGenericCommand (Thumb, 104 bytes, Stack size 24 bytes, timers.o(.text.xTimerGenericCommand))

                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                            • Max Depth = 152
                                                                                                                                                                                                                                                                            • Call Chain = xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                            • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                            • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                              • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                              • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                              • >>   prvSwitchTimerLists -
                                                                                                                                                                                                                                                                              • >>   prvProcessReceivedCommands -
                                                                                                                                                                                                                                                                              • >>   prvProcessExpiredTimer +
                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                • >>   prvSwitchTimerLists +
                                                                                                                                                                                                                                                                                • >>   prvProcessReceivedCommands +
                                                                                                                                                                                                                                                                                • >>   prvProcessExpiredTimer
                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                __ARM_fpclassify (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify)) +

                                                                                                                                                                                                                                                                                __ARM_fpclassify (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify))

                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                • Max Depth = 8
                                                                                                                                                                                                                                                                                • Call Chain = __ARM_fpclassify
                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                  • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf
                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan2f
                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                  @@ -2993,46 +3129,46 @@ Global Symbols

                                                                                                                                                                                                                                                                                  __hardfp_asinf (Thumb, 258 bytes, Stack size 16 bytes, asinf.o(i.__hardfp_asinf))

                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                  • Max Depth = 40
                                                                                                                                                                                                                                                                                  • Call Chain = __hardfp_asinf ⇒ sqrtf ⇒ __set_errno
                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                  • >>   sqrtf -
                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_infnan -
                                                                                                                                                                                                                                                                                  • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                    • >>   sqrtf +
                                                                                                                                                                                                                                                                                    • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                    • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                    • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                    • >>   __ARM_fpclassifyf
                                                                                                                                                                                                                                                                                    • >>   __set_errno

                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                    • >>   AHRS_GetEulr
                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                    __hardfp_atan (Thumb, 622 bytes, Stack size 48 bytes, atan.o(i.__hardfp_atan)) +

                                                                                                                                                                                                                                                                                    __hardfp_atan (Thumb, 622 bytes, Stack size 48 bytes, atan.o(i.__hardfp_atan))

                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                    • Max Depth = 104
                                                                                                                                                                                                                                                                                    • Call Chain = __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                    • >>   __kernel_poly -
                                                                                                                                                                                                                                                                                    • >>   __ARM_fpclassify -
                                                                                                                                                                                                                                                                                    • >>   fabs -
                                                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_underflow -
                                                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_infnan -
                                                                                                                                                                                                                                                                                    • >>   __aeabi_dneg -
                                                                                                                                                                                                                                                                                    • >>   __aeabi_dmul -
                                                                                                                                                                                                                                                                                    • >>   __aeabi_ddiv -
                                                                                                                                                                                                                                                                                    • >>   __aeabi_dsub -
                                                                                                                                                                                                                                                                                    • >>   __aeabi_drsub -
                                                                                                                                                                                                                                                                                    • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                      • >>   __kernel_poly +
                                                                                                                                                                                                                                                                                      • >>   __ARM_fpclassify +
                                                                                                                                                                                                                                                                                      • >>   fabs +
                                                                                                                                                                                                                                                                                      • >>   __mathlib_dbl_underflow +
                                                                                                                                                                                                                                                                                      • >>   __mathlib_dbl_infnan +
                                                                                                                                                                                                                                                                                      • >>   __aeabi_dneg +
                                                                                                                                                                                                                                                                                      • >>   __aeabi_dmul +
                                                                                                                                                                                                                                                                                      • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                      • >>   __aeabi_dsub +
                                                                                                                                                                                                                                                                                      • >>   __aeabi_drsub +
                                                                                                                                                                                                                                                                                      • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                      • >>   atan +
                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                        • >>   atan

                                                                                                                                                                                                                                                                                        __hardfp_atan2 (Thumb, 448 bytes, Stack size 56 bytes, atan2.o(i.__hardfp_atan2))

                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                        • Max Depth = 168
                                                                                                                                                                                                                                                                                        • Call Chain = __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                        • >>   fabs -
                                                                                                                                                                                                                                                                                        • >>   __mathlib_dbl_infnan2 -
                                                                                                                                                                                                                                                                                        • >>   atan -
                                                                                                                                                                                                                                                                                        • >>   __aeabi_cdcmpeq -
                                                                                                                                                                                                                                                                                        • >>   __aeabi_dneg +
                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                          • >>   fabs +
                                                                                                                                                                                                                                                                                          • >>   __mathlib_dbl_infnan2 +
                                                                                                                                                                                                                                                                                          • >>   atan +
                                                                                                                                                                                                                                                                                          • >>   __aeabi_cdcmpeq +
                                                                                                                                                                                                                                                                                          • >>   __aeabi_dneg
                                                                                                                                                                                                                                                                                          • >>   __set_errno -
                                                                                                                                                                                                                                                                                          • >>   __aeabi_ddiv -
                                                                                                                                                                                                                                                                                          • >>   __aeabi_dsub -
                                                                                                                                                                                                                                                                                          • >>   __aeabi_drsub +
                                                                                                                                                                                                                                                                                          • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                          • >>   __aeabi_dsub +
                                                                                                                                                                                                                                                                                          • >>   __aeabi_drsub

                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                          • >>   AHRS_Init
                                                                                                                                                                                                                                                                                          @@ -3040,182 +3176,183 @@ Global Symbols

                                                                                                                                                                                                                                                                                          __hardfp_atan2f (Thumb, 594 bytes, Stack size 32 bytes, atan2f.o(i.__hardfp_atan2f))

                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                          • Max Depth = 40
                                                                                                                                                                                                                                                                                          • Call Chain = __hardfp_atan2f ⇒ __set_errno
                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_infnan2 -
                                                                                                                                                                                                                                                                                          • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_infnan2 +
                                                                                                                                                                                                                                                                                            • >>   __ARM_fpclassifyf
                                                                                                                                                                                                                                                                                            • >>   __set_errno
                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   AHRS_GetEulr +
                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                              • >>   Quad_UpdateStatus +
                                                                                                                                                                                                                                                                                              • >>   AHRS_GetEulr
                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                              __hardfp_pow (Thumb, 3088 bytes, Stack size 184 bytes, pow.o(i.__hardfp_pow)) +

                                                                                                                                                                                                                                                                                              __hardfp_pow (Thumb, 3088 bytes, Stack size 184 bytes, pow.o(i.__hardfp_pow))

                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                              • Max Depth = 256
                                                                                                                                                                                                                                                                                              • Call Chain = __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                              • >>   sqrt -
                                                                                                                                                                                                                                                                                              • >>   __kernel_poly -
                                                                                                                                                                                                                                                                                              • >>   __ARM_fpclassify -
                                                                                                                                                                                                                                                                                              • >>   fabs -
                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_underflow -
                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_overflow -
                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_invalid -
                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_infnan2 -
                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_divzero -
                                                                                                                                                                                                                                                                                              • >>   __ARM_scalbn -
                                                                                                                                                                                                                                                                                              • >>   __aeabi_cdrcmple -
                                                                                                                                                                                                                                                                                              • >>   __aeabi_dneg +
                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                • >>   sqrt +
                                                                                                                                                                                                                                                                                                • >>   __kernel_poly +
                                                                                                                                                                                                                                                                                                • >>   __ARM_fpclassify +
                                                                                                                                                                                                                                                                                                • >>   fabs +
                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_underflow +
                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_overflow +
                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_invalid +
                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_infnan2 +
                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_divzero +
                                                                                                                                                                                                                                                                                                • >>   __ARM_scalbn +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_cdrcmple +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dneg
                                                                                                                                                                                                                                                                                                • >>   __set_errno -
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dmul -
                                                                                                                                                                                                                                                                                                • >>   __aeabi_i2d -
                                                                                                                                                                                                                                                                                                • >>   __aeabi_ddiv -
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dsub -
                                                                                                                                                                                                                                                                                                • >>   __aeabi_drsub -
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dmul +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_i2d +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dsub +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_drsub +
                                                                                                                                                                                                                                                                                                • >>   __aeabi_dadd

                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                • >>   SPL06_CaculateHeight
                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                __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 +
                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                  • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                  • >>   __ARM_fpclassifyf
                                                                                                                                                                                                                                                                                                  • >>   __set_errno
                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                  • >>   Task_blink +
                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                    • >>   Task_blink

                                                                                                                                                                                                                                                                                                    __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 +
                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                      • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                      • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                                      • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                      • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                      • >>   __ARM_fpclassifyf
                                                                                                                                                                                                                                                                                                      • >>   __set_errno

                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                      • >>   LowPassFilter2p_Init
                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                      __kernel_poly (Thumb, 248 bytes, Stack size 24 bytes, poly.o(i.__kernel_poly)) +

                                                                                                                                                                                                                                                                                                      __kernel_poly (Thumb, 248 bytes, Stack size 24 bytes, poly.o(i.__kernel_poly))

                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                      • Max Depth = 56
                                                                                                                                                                                                                                                                                                      • Call Chain = __kernel_poly ⇒ __aeabi_dmul
                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                      • >>   __aeabi_dmul -
                                                                                                                                                                                                                                                                                                      • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                        • >>   __aeabi_dmul +
                                                                                                                                                                                                                                                                                                        • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                        • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                          • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                          • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                          __mathlib_dbl_divzero (Thumb, 28 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_divzero)) +

                                                                                                                                                                                                                                                                                                          __mathlib_dbl_divzero (Thumb, 28 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_divzero))

                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                          • Max Depth = 40
                                                                                                                                                                                                                                                                                                          • Call Chain = __mathlib_dbl_divzero ⇒ __aeabi_ddiv
                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                          • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                            • >>   __aeabi_ddiv
                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                            • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                              • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                              __mathlib_dbl_infnan (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan)) +

                                                                                                                                                                                                                                                                                                              __mathlib_dbl_infnan (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan))

                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                              • Max Depth = 24
                                                                                                                                                                                                                                                                                                              • Call Chain = __mathlib_dbl_infnan ⇒ __aeabi_dadd
                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan
                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                  __mathlib_dbl_infnan2 (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan2)) +

                                                                                                                                                                                                                                                                                                                  __mathlib_dbl_infnan2 (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan2))

                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                  • Max Depth = 24
                                                                                                                                                                                                                                                                                                                  • Call Chain = __mathlib_dbl_infnan2 ⇒ __aeabi_dadd
                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                      __mathlib_dbl_invalid (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_invalid)) +

                                                                                                                                                                                                                                                                                                                      __mathlib_dbl_invalid (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_invalid))

                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                      • Max Depth = 40
                                                                                                                                                                                                                                                                                                                      • Call Chain = __mathlib_dbl_invalid ⇒ __aeabi_ddiv
                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_ddiv
                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                          __mathlib_dbl_overflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_overflow)) +

                                                                                                                                                                                                                                                                                                                          __mathlib_dbl_overflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_overflow))

                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                          • Max Depth = 40
                                                                                                                                                                                                                                                                                                                          • Call Chain = __mathlib_dbl_overflow ⇒ __aeabi_dmul
                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dmul +
                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_dmul
                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                              __mathlib_dbl_underflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow)) +

                                                                                                                                                                                                                                                                                                                              __mathlib_dbl_underflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow))

                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                              • Max Depth = 40
                                                                                                                                                                                                                                                                                                                              • Call Chain = __mathlib_dbl_underflow ⇒ __aeabi_dmul
                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dmul +
                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_dmul
                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                  __mathlib_flt_infnan2 (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan2)) +

                                                                                                                                                                                                                                                                                                                                  __mathlib_flt_infnan2 (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan2))

                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan2f
                                                                                                                                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan2f
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                  __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_sinf
                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                  atan (Thumb, 16 bytes, Stack size 8 bytes, atan.o(i.atan)) +

                                                                                                                                                                                                                                                                                                                                  atan (Thumb, 16 bytes, Stack size 8 bytes, atan.o(i.atan))

                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                  • Max Depth = 112
                                                                                                                                                                                                                                                                                                                                  • Call Chain = atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_atan

                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                    fabs (Thumb, 24 bytes, Stack size 8 bytes, fabs.o(i.fabs)) +

                                                                                                                                                                                                                                                                                                                                    fabs (Thumb, 24 bytes, Stack size 8 bytes, fabs.o(i.fabs))

                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                    • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                    • Call Chain = fabs
                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                      sqrt (Thumb, 110 bytes, Stack size 32 bytes, sqrt.o(i.sqrt)) +

                                                                                                                                                                                                                                                                                                                                      sqrt (Thumb, 110 bytes, Stack size 32 bytes, sqrt.o(i.sqrt))

                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                      • Max Depth = 72
                                                                                                                                                                                                                                                                                                                                      • Call Chain = sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                      • >>   _dsqrt +
                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                        • >>   _dsqrt
                                                                                                                                                                                                                                                                                                                                        • >>   __set_errno
                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                          sqrtf (Thumb, 62 bytes, Stack size 16 bytes, sqrtf.o(i.sqrtf)) +

                                                                                                                                                                                                                                                                                                                                          sqrtf (Thumb, 62 bytes, Stack size 16 bytes, sqrtf.o(i.sqrtf))

                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                          • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                          • Call Chain = sqrtf ⇒ __set_errno

                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                          • >>   __set_errno @@ -3223,265 +3360,284 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                            __aeabi_dneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic)) -

                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_pow +

                                                                                                                                                                                                                                                                                                                                              __aeabi_dneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic)) +

                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                              _dneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) +

                                                                                                                                                                                                                                                                                                                                              _dneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) -

                                                                                                                                                                                                                                                                                                                                              __aeabi_fneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) +

                                                                                                                                                                                                                                                                                                                                              __aeabi_fneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) -

                                                                                                                                                                                                                                                                                                                                              _fneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) +

                                                                                                                                                                                                                                                                                                                                              _fneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) -

                                                                                                                                                                                                                                                                                                                                              _dabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) +

                                                                                                                                                                                                                                                                                                                                              _dabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) -

                                                                                                                                                                                                                                                                                                                                              _fabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) +

                                                                                                                                                                                                                                                                                                                                              _fabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

                                                                                                                                                                                                                                                                                                                                              __aeabi_d2f (Thumb, 0 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f))

                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                              • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                              • Call Chain = __aeabi_d2f
                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                              • >>   AHRS_Init +
                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                • >>   Quad_Mixer +
                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_Init
                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                _d2f (Thumb, 98 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_fretinf -
                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                  _d2f (Thumb, 98 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_fretinf +
                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                  __aeabi_dadd (Thumb, 0 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd)) +

                                                                                                                                                                                                                                                                                                                                                  __aeabi_dadd (Thumb, 0 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd))

                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                  • Call Chain = __aeabi_dadd
                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                  • >>   SPL06_Update -
                                                                                                                                                                                                                                                                                                                                                  • >>   __kernel_poly -
                                                                                                                                                                                                                                                                                                                                                  • >>   __mathlib_dbl_infnan2 -
                                                                                                                                                                                                                                                                                                                                                  • >>   __mathlib_dbl_infnan -
                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                    • >>   Quad_Mixer +
                                                                                                                                                                                                                                                                                                                                                    • >>   SPL06_Update +
                                                                                                                                                                                                                                                                                                                                                    • >>   __kernel_poly +
                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_infnan2 +
                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_infnan +
                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                    _dadd (Thumb, 332 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dretinf -
                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dnaninf -
                                                                                                                                                                                                                                                                                                                                                    • >>   _dsub1 +

                                                                                                                                                                                                                                                                                                                                                      _dadd (Thumb, 332 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                      [Calls]

                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_dretinf +
                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_dnaninf +
                                                                                                                                                                                                                                                                                                                                                      • >>   _dsub1
                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                      __fpl_dcheck_NaN1 (Thumb, 10 bytes, Stack size 0 bytes, dcheck1.o(x$fpl$dcheck1)) -

                                                                                                                                                                                                                                                                                                                                                      [Calls]

                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_return_NaN +

                                                                                                                                                                                                                                                                                                                                                        __fpl_dcheck_NaN1 (Thumb, 10 bytes, Stack size 0 bytes, dcheck1.o(x$fpl$dcheck1)) +

                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                        • >>   __fpl_return_NaN
                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                        • >>   __ARM_scalbn +
                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                          • >>   __ARM_scalbn
                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                          __fpl_dcmp_Inf (Thumb, 24 bytes, Stack size 0 bytes, dcmpi.o(x$fpl$dcmpinf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                          • >>   _dcmple -
                                                                                                                                                                                                                                                                                                                                                          • >>   _dcmpeq +

                                                                                                                                                                                                                                                                                                                                                            __fpl_dcmp_Inf (Thumb, 24 bytes, Stack size 0 bytes, dcmpi.o(x$fpl$dcmpinf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                            • >>   _dcmple +
                                                                                                                                                                                                                                                                                                                                                            • >>   _dcmpeq
                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                            __aeabi_ddiv (Thumb, 0 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv)) +

                                                                                                                                                                                                                                                                                                                                                            __aeabi_ddiv (Thumb, 0 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv))

                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                            • Call Chain = __aeabi_ddiv
                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                            • >>   Task_rc -
                                                                                                                                                                                                                                                                                                                                                            • >>   Task_blink -
                                                                                                                                                                                                                                                                                                                                                            • >>   Task_height_cal +
                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                              • >>   Task_quad_ctrl +
                                                                                                                                                                                                                                                                                                                                                              • >>   Task_height_cal +
                                                                                                                                                                                                                                                                                                                                                              • >>   Task_cmd +
                                                                                                                                                                                                                                                                                                                                                              • >>   Task_blink
                                                                                                                                                                                                                                                                                                                                                              • >>   Task_atti_esti
                                                                                                                                                                                                                                                                                                                                                              • >>   SPL06_CaculateHeight -
                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_invalid -
                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_divzero -
                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_invalid +
                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_dbl_divzero +
                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                              _ddiv (Thumb, 556 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                              • >>   __fpl_dretinf -
                                                                                                                                                                                                                                                                                                                                                              • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                                _ddiv (Thumb, 556 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dretinf +
                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                __aeabi_cdcmpeq (Thumb, 0 bytes, Stack size 32 bytes, deqf.o(x$fpl$deqf)) +

                                                                                                                                                                                                                                                                                                                                                                __aeabi_cdcmpeq (Thumb, 0 bytes, Stack size 32 bytes, deqf.o(x$fpl$deqf))

                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                • Call Chain = __aeabi_cdcmpeq

                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                _dcmpeq (Thumb, 120 bytes, Stack size 32 bytes, deqf.o(x$fpl$deqf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dcmp_Inf -
                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                                  _dcmpeq (Thumb, 120 bytes, Stack size 32 bytes, deqf.o(x$fpl$deqf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dcmp_Inf +
                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                  __aeabi_d2iz (Thumb, 0 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix)) +

                                                                                                                                                                                                                                                                                                                                                                  __aeabi_d2iz (Thumb, 0 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix))

                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = __aeabi_d2iz

                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                  • >>   SPL06_Update
                                                                                                                                                                                                                                                                                                                                                                  • >>   SPL06_CaculateHeight
                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                  _dfix (Thumb, 94 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                                    _dfix (Thumb, 94 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                    __aeabi_d2uiz (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu)) +

                                                                                                                                                                                                                                                                                                                                                                    __aeabi_d2uiz (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu))

                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __aeabi_d2uiz
                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                    • >>   Task_rc -
                                                                                                                                                                                                                                                                                                                                                                    • >>   Task_blink -
                                                                                                                                                                                                                                                                                                                                                                    • >>   Task_height_cal +
                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                      • >>   Task_quad_ctrl +
                                                                                                                                                                                                                                                                                                                                                                      • >>   Task_height_cal +
                                                                                                                                                                                                                                                                                                                                                                      • >>   Task_cmd +
                                                                                                                                                                                                                                                                                                                                                                      • >>   Task_blink
                                                                                                                                                                                                                                                                                                                                                                      • >>   Task_atti_esti
                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                      _dfixu (Thumb, 90 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                      [Calls]

                                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                                        _dfixu (Thumb, 90 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                                        • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                        __aeabi_i2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt)) +

                                                                                                                                                                                                                                                                                                                                                                        __aeabi_i2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt))

                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                        • >>   SPL06_Update -
                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                        _dflt (Thumb, 46 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                        _dflt (Thumb, 46 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                        __aeabi_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu)) -

                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                        • >>   Task_rc -
                                                                                                                                                                                                                                                                                                                                                                        • >>   Task_blink -
                                                                                                                                                                                                                                                                                                                                                                        • >>   Task_height_cal +

                                                                                                                                                                                                                                                                                                                                                                          __aeabi_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu)) +

                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_quad_ctrl +
                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_height_cal +
                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_cmd +
                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_blink
                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_atti_esti
                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                          _dfltu (Thumb, 38 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                          _dfltu (Thumb, 38 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                          __aeabi_cdcmple (Thumb, 0 bytes, Stack size 32 bytes, dleqf.o(x$fpl$dleqf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                          __aeabi_cdcmple (Thumb, 0 bytes, Stack size 32 bytes, dleqf.o(x$fpl$dleqf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                          _dcmple (Thumb, 120 bytes, Stack size 32 bytes, dleqf.o(x$fpl$dleqf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                          [Calls]

                                                                                                                                                                                                                                                                                                                                                                          • >>   __fpl_dcmp_Inf -
                                                                                                                                                                                                                                                                                                                                                                          • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                                            _dcmple (Thumb, 120 bytes, Stack size 32 bytes, dleqf.o(x$fpl$dleqf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                                                                                                                                                                                            • >>   __fpl_dcmp_Inf +
                                                                                                                                                                                                                                                                                                                                                                            • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                            __fpl_dcmple_InfNaN (Thumb, 0 bytes, Stack size unknown bytes, dleqf.o(x$fpl$dleqf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                            • >>   _drcmple +

                                                                                                                                                                                                                                                                                                                                                                              __fpl_dcmple_InfNaN (Thumb, 0 bytes, Stack size unknown bytes, dleqf.o(x$fpl$dleqf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                              • >>   _drcmple
                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                              __aeabi_dmul (Thumb, 0 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul)) +

                                                                                                                                                                                                                                                                                                                                                                              __aeabi_dmul (Thumb, 0 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul))

                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = __aeabi_dmul
                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                              • >>   SPL06_Update +
                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                • >>   Quad_Mixer +
                                                                                                                                                                                                                                                                                                                                                                                • >>   SPL06_Update
                                                                                                                                                                                                                                                                                                                                                                                • >>   SPL06_CaculateHeight -
                                                                                                                                                                                                                                                                                                                                                                                • >>   __kernel_poly -
                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_underflow -
                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_overflow -
                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                                                • >>   __kernel_poly +
                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_underflow +
                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_dbl_overflow +
                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                _dmul (Thumb, 332 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dretinf -
                                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                                                                                                                                                                  _dmul (Thumb, 332 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dretinf +
                                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                  __fpl_dnaninf (Thumb, 156 bytes, Stack size 16 bytes, dnaninf.o(x$fpl$dnaninf)) +

                                                                                                                                                                                                                                                                                                                                                                                  __fpl_dnaninf (Thumb, 156 bytes, Stack size 16 bytes, dnaninf.o(x$fpl$dnaninf))

                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dsqrt -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dcmple -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dcmpeq -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dmul -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dfixu -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dfix -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _ddiv -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dsub -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dadd -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   _d2f +
                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dsqrt +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dcmple +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dcmpeq +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dmul +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dfixu +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dfix +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _ddiv +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dsub +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dadd +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _d2f
                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                    __fpl_dretinf (Thumb, 12 bytes, Stack size 0 bytes, dretinf.o(x$fpl$dretinf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                    • >>   _f2d -
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dmul -
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _ddiv -
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dadd +

                                                                                                                                                                                                                                                                                                                                                                                      __fpl_dretinf (Thumb, 12 bytes, Stack size 0 bytes, dretinf.o(x$fpl$dretinf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                      • >>   _f2d +
                                                                                                                                                                                                                                                                                                                                                                                      • >>   _dmul +
                                                                                                                                                                                                                                                                                                                                                                                      • >>   _ddiv +
                                                                                                                                                                                                                                                                                                                                                                                      • >>   _dadd
                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                      __aeabi_cdrcmple (Thumb, 0 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf)) +

                                                                                                                                                                                                                                                                                                                                                                                      __aeabi_cdrcmple (Thumb, 0 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf))

                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = __aeabi_cdrcmple
                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                        _drcmple (Thumb, 108 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                                                        • >>   __fpl_dcmple_InfNaN +

                                                                                                                                                                                                                                                                                                                                                                                          _drcmple (Thumb, 108 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                          [Calls]

                                                                                                                                                                                                                                                                                                                                                                                          • >>   __fpl_dcmple_InfNaN
                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                          __aeabi_drsub (Thumb, 0 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb)) +

                                                                                                                                                                                                                                                                                                                                                                                          __aeabi_drsub (Thumb, 0 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb))

                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = __aeabi_drsub
                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                            _drsb (Thumb, 22 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                                                                                                                                                                                                            • >>   _dsub1 -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   _dadd1 +

                                                                                                                                                                                                                                                                                                                                                                                              _drsb (Thumb, 22 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                                                              • >>   _dsub1 +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   _dadd1
                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                              _dsqrt (Thumb, 404 bytes, Stack size 24 bytes, dsqrt_umaal.o(x$fpl$dsqrt)) +

                                                                                                                                                                                                                                                                                                                                                                                              _dsqrt (Thumb, 404 bytes, Stack size 24 bytes, dsqrt_umaal.o(x$fpl$dsqrt))

                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = _dsqrt ⇒ __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   __fpl_dnaninf +
                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   sqrt +
                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   sqrt
                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                  __aeabi_dsub (Thumb, 0 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub)) +

                                                                                                                                                                                                                                                                                                                                                                                                  __aeabi_dsub (Thumb, 0 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub))

                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = __aeabi_dsub

                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   SPL06_CaculateHeight -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan +
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan2
                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                  _dsub (Thumb, 472 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dnaninf -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   _dadd1 +

                                                                                                                                                                                                                                                                                                                                                                                                    _dsub (Thumb, 472 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dnaninf +
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dadd1

                                                                                                                                                                                                                                                                                                                                                                                                    __aeabi_f2d (Thumb, 0 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d))

                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __aeabi_f2d
                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AHRS_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Quad_Mixer +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AHRS_Init
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   SPL06_Update
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   SPL06_CaculateHeight
                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                      _f2d (Thumb, 86 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_fnaninf -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_dretinf +

                                                                                                                                                                                                                                                                                                                                                                                                        _f2d (Thumb, 86 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __fpl_fnaninf +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __fpl_dretinf

                                                                                                                                                                                                                                                                                                                                                                                                        __aeabi_ul2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll)) -

                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HeightEstimation_GetHeight +

                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Quad_Ctrl +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HeightEstimation_GetHeight
                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                          _ll_uto_f (Thumb, 6 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                          _ll_uto_f (Thumb, 6 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                          __aeabi_l2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                          __aeabi_l2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                          _ll_sto_f (Thumb, 90 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                          _ll_sto_f (Thumb, 90 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                          __fpl_fnaninf (Thumb, 140 bytes, Stack size 8 bytes, fnaninf.o(x$fpl$fnaninf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                          • >>   _ll_ufrom_f -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   _f2d +

                                                                                                                                                                                                                                                                                                                                                                                                            __fpl_fnaninf (Thumb, 140 bytes, Stack size 8 bytes, fnaninf.o(x$fpl$fnaninf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _ll_ufrom_f +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _ll_sfrom_f +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _f2d

                                                                                                                                                                                                                                                                                                                                                                                                            _fp_init (Thumb, 26 bytes, Stack size 0 bytes, fpinit.o(x$fpl$fpinit))

                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __rt_lib_init_fp_1
                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                            __fplib_config_fpu_vfp (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                            __fplib_config_fpu_vfp (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                            __fplib_config_pureend_doubles (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                            __fplib_config_pureend_doubles (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                            __fpl_fretinf (Thumb, 10 bytes, Stack size 0 bytes, fretinf.o(x$fpl$fretinf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _d2f +

                                                                                                                                                                                                                                                                                                                                                                                                              __fpl_fretinf (Thumb, 10 bytes, Stack size 0 bytes, fretinf.o(x$fpl$fretinf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                              • >>   _d2f +
                                                                                                                                                                                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                                                                                                                                                                                              __aeabi_f2lz (Thumb, 0 bytes, Stack size 16 bytes, ffixll.o(x$fpl$llsfromf)) +

                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = __aeabi_f2lz +
                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Quad_Ctrl +
                                                                                                                                                                                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                                                                                                                                                                                              _ll_sfrom_f (Thumb, 134 bytes, Stack size 16 bytes, ffixll.o(x$fpl$llsfromf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __fpl_fnaninf

                                                                                                                                                                                                                                                                                                                                                                                                              __aeabi_f2ulz (Thumb, 0 bytes, Stack size 16 bytes, ffixull.o(x$fpl$llufromf)) @@ -3490,24 +3646,24 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HeightEstimation_GetHeight
                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                              _ll_ufrom_f (Thumb, 92 bytes, Stack size 16 bytes, ffixull.o(x$fpl$llufromf), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __fpl_fnaninf +

                                                                                                                                                                                                                                                                                                                                                                                                                _ll_ufrom_f (Thumb, 92 bytes, Stack size 16 bytes, ffixull.o(x$fpl$llufromf), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_fnaninf
                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                __fpl_return_NaN (Thumb, 100 bytes, Stack size 0 bytes, retnan.o(x$fpl$retnan)) -

                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __fpl_cmpreturn +

                                                                                                                                                                                                                                                                                                                                                                                                                  __fpl_return_NaN (Thumb, 100 bytes, Stack size 0 bytes, retnan.o(x$fpl$retnan)) +

                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_cmpreturn
                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __fpl_dcheck_NaN1 +
                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dcheck_NaN1
                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                    __ARM_scalbn (Thumb, 92 bytes, Stack size 0 bytes, scalbn.o(x$fpl$scalbn)) -

                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dcheck_NaN1 +

                                                                                                                                                                                                                                                                                                                                                                                                                      __ARM_scalbn (Thumb, 92 bytes, Stack size 0 bytes, scalbn.o(x$fpl$scalbn)) +

                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __fpl_dcheck_NaN1
                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_pow +
                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                        __fpl_cmpreturn (Thumb, 48 bytes, Stack size 0 bytes, trapv.o(x$fpl$trapveneer)) -

                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __fpl_return_NaN +

                                                                                                                                                                                                                                                                                                                                                                                                                          __fpl_cmpreturn (Thumb, 48 bytes, Stack size 0 bytes, trapv.o(x$fpl$trapveneer)) +

                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __fpl_return_NaN

                                                                                                                                                                                                                                                                                                                                                                                                                          @@ -3625,7 +3781,7 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                          SPI_EndRxTransaction (Thumb, 144 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTransaction))

                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   SPI_WaitFlagStateUntilTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SPI_WaitFlagStateUntilTimeout

                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SPI_DMAReceiveCplt
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_Receive @@ -3634,7 +3790,7 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                              SPI_EndRxTxTransaction (Thumb, 138 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTxTransaction))

                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   SPI_WaitFlagStateUntilTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_WaitFlagStateUntilTimeout

                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_DMATransmitReceiveCplt
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_DMATransmitCplt @@ -3642,7 +3798,7 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_SPI_Transmit
                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_WaitFlagStateUntilTimeout (Thumb, 224 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.SPI_WaitFlagStateUntilTimeout)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_WaitFlagStateUntilTimeout (Thumb, 224 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.SPI_WaitFlagStateUntilTimeout))

                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = SPI_WaitFlagStateUntilTimeout

                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_GetTick @@ -3676,16 +3832,16 @@ Local Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                UART_DMAError (Thumb, 76 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                UART_DMAError (Thumb, 76 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError))

                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = UART_DMAError ⇒ HAL_UART_ErrorCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   UART_EndTxTransfer +
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   UART_EndTxTransfer
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   UART_EndRxTransfer
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_ErrorCallback

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

                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_DMAReceiveCplt (Thumb, 132 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_DMAReceiveCplt (Thumb, 132 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = UART_DMAReceiveCplt ⇒ HAL_UART_RxCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UARTEx_RxEventCallback @@ -3693,7 +3849,7 @@ Local Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_DMARxHalfCplt (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_DMARxHalfCplt (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = UART_DMARxHalfCplt ⇒ HAL_UART_RxHalfCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UARTEx_RxEventCallback @@ -3706,7 +3862,7 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   UART_EndRxTransfer -
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   UART_DMAError +
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   UART_DMAError

                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_EndTransmit_IT (Thumb, 24 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTransmit_IT)) @@ -3717,11 +3873,11 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_EndTxTransfer (Thumb, 28 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   UART_EndTxTransfer +

                                                                                                                                                                                                                                                                                                                                                                                                                                    UART_EndTxTransfer (Thumb, 28 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   UART_EndTxTransfer
                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   UART_EndTxTransfer -
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   UART_DMAError +
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART_EndTxTransfer +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART_DMAError

                                                                                                                                                                                                                                                                                                                                                                                                                                      UART_Receive_IT (Thumb, 200 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT)) @@ -3747,268 +3903,268 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                      prvCopyDataFromQueue (Thumb, 38 bytes, Stack size 8 bytes, queue.o(.text.prvCopyDataFromQueue)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                      prvCopyDataFromQueue (Thumb, 38 bytes, Stack size 8 bytes, queue.o(.text.prvCopyDataFromQueue))

                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = prvCopyDataFromQueue
                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_memcpy +
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memcpy
                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceiveFromISR -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueReceiveFromISR +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueReceive
                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                          prvCopyDataToQueue (Thumb, 122 bytes, Stack size 16 bytes, queue.o(.text.prvCopyDataToQueue)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                          prvCopyDataToQueue (Thumb, 122 bytes, Stack size 16 bytes, queue.o(.text.prvCopyDataToQueue))

                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskPriorityDisinherit -
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_memcpy +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskPriorityDisinherit +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_memcpy
                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                              prvInitialiseNewQueue (Thumb, 32 bytes, Stack size 16 bytes, queue.o(.text.prvInitialiseNewQueue)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                              prvInitialiseNewQueue (Thumb, 32 bytes, Stack size 16 bytes, queue.o(.text.prvInitialiseNewQueue))

                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericReset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericReset
                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreate +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreate
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvIsQueueEmpty (Thumb, 24 bytes, Stack size 8 bytes, queue.o(.text.prvIsQueueEmpty)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvIsQueueEmpty (Thumb, 24 bytes, Stack size 8 bytes, queue.o(.text.prvIsQueueEmpty))

                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = prvIsQueueEmpty
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueReceive
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvIsQueueFull (Thumb, 28 bytes, Stack size 8 bytes, queue.o(.text.prvIsQueueFull)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvIsQueueFull (Thumb, 28 bytes, Stack size 8 bytes, queue.o(.text.prvIsQueueFull))

                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = prvIsQueueFull
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvUnlockQueue (Thumb, 114 bytes, Stack size 24 bytes, queue.o(.text.prvUnlockQueue)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvUnlockQueue (Thumb, 114 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]
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vQueueWaitForMessageRestricted
                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                              prvAddCurrentTaskToDelayedList (Thumb, 128 bytes, Stack size 24 bytes, tasks.o(.text.prvAddCurrentTaskToDelayedList)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                              prvAddCurrentTaskToDelayedList (Thumb, 128 bytes, Stack size 24 bytes, tasks.o(.text.prvAddCurrentTaskToDelayedList))

                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskDelayUntil -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskDelay -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskNotifyWait -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelayUntil +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelay +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskPlaceOnEventList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvAddNewTaskToReadyList (Thumb, 172 bytes, Stack size 16 bytes, tasks.o(.text.prvAddNewTaskToReadyList)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvAddNewTaskToReadyList (Thumb, 172 bytes, Stack size 16 bytes, tasks.o(.text.prvAddNewTaskToReadyList))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = prvAddNewTaskToReadyList ⇒ prvInitialiseTaskLists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvInitialiseTaskLists -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvInitialiseTaskLists +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskCreate +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskCreate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvCheckTasksWaitingTermination (Thumb, 78 bytes, Stack size 24 bytes, tasks.o(.text.prvCheckTasksWaitingTermination)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvCheckTasksWaitingTermination (Thumb, 78 bytes, Stack size 24 bytes, tasks.o(.text.prvCheckTasksWaitingTermination))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvDeleteTCB -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvDeleteTCB +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvIdleTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvIdleTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvDeleteTCB (Thumb, 54 bytes, Stack size 8 bytes, tasks.o(.text.prvDeleteTCB)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvDeleteTCB (Thumb, 54 bytes, Stack size 8 bytes, tasks.o(.text.prvDeleteTCB))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortFree +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortFree
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvCheckTasksWaitingTermination +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvCheckTasksWaitingTermination
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              prvIdleTask (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(.text.prvIdleTask)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              prvIdleTask (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(.text.prvIdleTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = prvIdleTask ⇒ prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvCheckTasksWaitingTermination +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvCheckTasksWaitingTermination

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvInitialiseNewTask (Thumb, 152 bytes, Stack size 32 bytes, tasks.o(.text.prvInitialiseNewTask)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvInitialiseNewTask (Thumb, 152 bytes, Stack size 32 bytes, tasks.o(.text.prvInitialiseNewTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 36
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = prvInitialiseNewTask ⇒ __aeabi_memset4 ⇒ _memset_w
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   pxPortInitialiseStack -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vListInitialiseItem +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   pxPortInitialiseStack +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInitialiseItem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_memset4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskCreate +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskCreate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvInitialiseTaskLists (Thumb, 112 bytes, Stack size 16 bytes, tasks.o(.text.prvInitialiseTaskLists)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvInitialiseTaskLists (Thumb, 112 bytes, Stack size 16 bytes, tasks.o(.text.prvInitialiseTaskLists))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = prvInitialiseTaskLists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInitialise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvResetNextTaskUnblockTime (Thumb, 40 bytes, Stack size 0 bytes, tasks.o(.text.prvResetNextTaskUnblockTime)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskIncrementTick -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskResumeAll +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvResetNextTaskUnblockTime (Thumb, 40 bytes, Stack size 0 bytes, tasks.o(.text.prvResetNextTaskUnblockTime)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskIncrementTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskResumeAll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvCheckForValidListAndQueue (Thumb, 116 bytes, Stack size 24 bytes, timers.o(.text.prvCheckForValidListAndQueue)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvCheckForValidListAndQueue (Thumb, 116 bytes, Stack size 24 bytes, timers.o(.text.prvCheckForValidListAndQueue))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 96
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vQueueAddToRegistry -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vQueueAddToRegistry +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vListInitialise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTimerCreateTimerTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              prvGetNextExpireTime (Thumb, 32 bytes, Stack size 0 bytes, timers.o(.text.prvGetNextExpireTime)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvTimerTask +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvGetNextExpireTime (Thumb, 32 bytes, Stack size 0 bytes, timers.o(.text.prvGetNextExpireTime)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvTimerTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvInsertTimerInActiveList (Thumb, 64 bytes, Stack size 8 bytes, timers.o(.text.prvInsertTimerInActiveList)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvInsertTimerInActiveList (Thumb, 64 bytes, Stack size 8 bytes, timers.o(.text.prvInsertTimerInActiveList))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = prvInsertTimerInActiveList ⇒ vListInsert
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsert
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvProcessReceivedCommands -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvProcessExpiredTimer +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvProcessReceivedCommands +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvProcessExpiredTimer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvProcessExpiredTimer (Thumb, 110 bytes, Stack size 24 bytes, timers.o(.text.prvProcessExpiredTimer)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvProcessExpiredTimer (Thumb, 110 bytes, Stack size 24 bytes, timers.o(.text.prvProcessExpiredTimer))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 176
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = prvProcessExpiredTimer ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTimerGenericCommand -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvInsertTimerInActiveList -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvInsertTimerInActiveList +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvProcessTimerOrBlockTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvProcessReceivedCommands (Thumb, 290 bytes, Stack size 48 bytes, timers.o(.text.prvProcessReceivedCommands)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvProcessReceivedCommands (Thumb, 290 bytes, Stack size 48 bytes, timers.o(.text.prvProcessReceivedCommands))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 248
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTimerGenericCommand -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvInsertTimerInActiveList -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortFree +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvInsertTimerInActiveList +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortFree
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvTimerTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvTimerTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            prvProcessTimerOrBlockTask (Thumb, 128 bytes, Stack size 24 bytes, timers.o(.text.prvProcessTimerOrBlockTask)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            prvProcessTimerOrBlockTask (Thumb, 128 bytes, Stack size 24 bytes, timers.o(.text.prvProcessTimerOrBlockTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = prvProcessTimerOrBlockTask ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvProcessExpiredTimer -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vQueueWaitForMessageRestricted -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvProcessExpiredTimer +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskSuspendAll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvTimerTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvTimerTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvSampleTimeNow (Thumb, 42 bytes, Stack size 16 bytes, timers.o(.text.prvSampleTimeNow)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvSampleTimeNow (Thumb, 42 bytes, Stack size 16 bytes, timers.o(.text.prvSampleTimeNow))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 200
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvSwitchTimerLists +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvSwitchTimerLists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskGetTickCount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvProcessTimerOrBlockTask -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvProcessReceivedCommands +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvProcessReceivedCommands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvSwitchTimerLists (Thumb, 142 bytes, Stack size 32 bytes, timers.o(.text.prvSwitchTimerLists)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvSwitchTimerLists (Thumb, 142 bytes, Stack size 32 bytes, timers.o(.text.prvSwitchTimerLists))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 184
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTimerGenericCommand -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvSampleTimeNow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvTimerTask (Thumb, 22 bytes, Stack size 8 bytes, timers.o(.text.prvTimerTask)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvTimerTask (Thumb, 22 bytes, Stack size 8 bytes, timers.o(.text.prvTimerTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 256
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvProcessTimerOrBlockTask -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvProcessReceivedCommands -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvGetNextExpireTime +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvProcessReceivedCommands +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvGetNextExpireTime

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

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SVC_Setup
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   osKernelStart +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelStart
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __NVIC_SetPriority (Thumb, 14 bytes, Stack size 0 bytes, cmsis_os2.o(.text.__NVIC_SetPriority)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   SVC_Setup +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __NVIC_SetPriority (Thumb, 14 bytes, Stack size 0 bytes, cmsis_os2.o(.text.__NVIC_SetPriority)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SVC_Setup
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvHeapInit (Thumb, 116 bytes, Stack size 0 bytes, heap_4.o(.text.prvHeapInit)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   pvPortMalloc +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvHeapInit (Thumb, 116 bytes, Stack size 0 bytes, heap_4.o(.text.prvHeapInit)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   pvPortMalloc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvInsertBlockIntoFreeList (Thumb, 90 bytes, Stack size 8 bytes, heap_4.o(.text.prvInsertBlockIntoFreeList)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvInsertBlockIntoFreeList (Thumb, 90 bytes, Stack size 8 bytes, heap_4.o(.text.prvInsertBlockIntoFreeList))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = prvInsertBlockIntoFreeList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortFree -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   pvPortMalloc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vPortFree +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   pvPortMalloc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    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)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvTaskExitError (Thumb, 50 bytes, Stack size 4 bytes, port.o(.text.prvTaskExitError))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = prvTaskExitError
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xPortStartScheduler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xPortStartScheduler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPI_Get (Thumb, 20 bytes, Stack size 0 bytes, spi_1.o(.text.SPI_Get)) @@ -4116,14 +4272,24 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Calc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   _dsub -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   _drsb +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Quad_Math_LimitFloat (Thumb, 40 bytes, Stack size 0 bytes, xm_quadctrl.o(.text.Quad_Math_LimitFloat)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Quad_SetTargetStates +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Quad_PosCtrl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Quad_Mixer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          _dsub1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   _drsb -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   _dadd +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Quad_Math_ScaleSumTo1 (Thumb, 94 bytes, Stack size 0 bytes, xm_quadctrl.o(.text.Quad_Math_ScaleSumTo1)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Quad_Mixer +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            + +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _dsub +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _drsb +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            + +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            _dsub1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _drsb +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   _dadd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            diff --git a/MDK-ARM/DveC/DveC.lnp b/MDK-ARM/DveC/DveC.lnp index fcc70f5..b464507 100644 --- a/MDK-ARM/DveC/DveC.lnp +++ b/MDK-ARM/DveC/DveC.lnp @@ -59,19 +59,18 @@ "dvec\filter.o" "dvec\pid.o" "dvec\user_math.o" -"dvec\cmd.o" "dvec\altitudekalman.o" "dvec\config.o" "dvec\at9s_pro_cmd.o" "dvec\xm_quadctrl.o" "dvec\heightestimation.o" -"dvec\atti_esti.o" -"dvec\height_cal.o" "dvec\init.o" -"dvec\main_control.o" "dvec\user_task.o" "dvec\blink.o" -"dvec\rc.o" +"dvec\cmd_1.o" +"dvec\atti_esti.o" +"dvec\height_cal.o" +"dvec\quad_ctrl.o" --strict --scatter "DveC\DveC.sct" --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --info sizes --info totals --info unused --info veneers diff --git a/MDK-ARM/DveC/DveC.map b/MDK-ARM/DveC/DveC.map index 1f8492b..8ef6db5 100644 --- a/MDK-ARM/DveC/DveC.map +++ b/MDK-ARM/DveC/DveC.map @@ -2988,31 +2988,58 @@ Section Cross References user_math.o(.ARM.exidx.text.CircleAdd) refers to user_math.o(.text.CircleAdd) for [Anonymous Symbol] user_math.o(.ARM.exidx.text.CircleReverse) refers to user_math.o(.text.CircleReverse) for [Anonymous Symbol] user_math.o(.ARM.exidx.text.CalculateRpm) refers to user_math.o(.text.CalculateRpm) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_Init) refers to cmd.o(.text.CMD_Init) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_CheckHostOverwrite) refers to cmd.o(.text.CMD_CheckHostOverwrite) for [Anonymous Symbol] - cmd.o(.text.CMD_ParseRc) refers to cmd.o(.text.CMD_KeyPressedRc) for CMD_KeyPressedRc - cmd.o(.text.CMD_ParseRc) refers to cmd.o(.text.CMD_PcLogic) for CMD_PcLogic - cmd.o(.text.CMD_ParseRc) refers to cmd.o(.text.CMD_RcLostLogic) for CMD_RcLostLogic - cmd.o(.text.CMD_ParseRc) refers to cmd.o(.text.CMD_RcLogic) for CMD_RcLogic - cmd.o(.ARM.exidx.text.CMD_ParseRc) refers to cmd.o(.text.CMD_ParseRc) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_KeyPressedRc) refers to cmd.o(.text.CMD_KeyPressedRc) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_RcLostLogic) refers to cmd.o(.text.CMD_RcLostLogic) for [Anonymous Symbol] - cmd.o(.text.CMD_PcLogic) refers to cmd.o(.text.CMD_BehaviorOccurredRc) for CMD_BehaviorOccurredRc - cmd.o(.text.CMD_PcLogic) refers to cmd.o(.text.CMD_RefereeAdd) for CMD_RefereeAdd - cmd.o(.ARM.exidx.text.CMD_PcLogic) refers to cmd.o(.text.CMD_PcLogic) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_RcLogic) refers to cmd.o(.text.CMD_RcLogic) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_ParseHost) refers to cmd.o(.text.CMD_ParseHost) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_RefereeAdd) refers to cmd.o(.text.CMD_RefereeAdd) for [Anonymous Symbol] - cmd.o(.text.CMD_BehaviorOccurredRc) refers to cmd.o(.text.CMD_BehaviorToKey) for CMD_BehaviorToKey - cmd.o(.text.CMD_BehaviorOccurredRc) refers to cmd.o(.text.CMD_BehaviorToActive) for CMD_BehaviorToActive - cmd.o(.ARM.exidx.text.CMD_BehaviorOccurredRc) refers to cmd.o(.text.CMD_BehaviorOccurredRc) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_BehaviorToKey) refers to cmd.o(.text.CMD_BehaviorToKey) for [Anonymous Symbol] - cmd.o(.ARM.exidx.text.CMD_BehaviorToActive) refers to cmd.o(.text.CMD_BehaviorToActive) for [Anonymous Symbol] altitudekalman.o(.ARM.exidx.text.AltKalman_Init) refers to altitudekalman.o(.text.AltKalman_Init) for [Anonymous Symbol] altitudekalman.o(.ARM.exidx.text.AltKalman_Update) refers to altitudekalman.o(.text.AltKalman_Update) for [Anonymous Symbol] - config.o(.text.Config_GetRobotParam) refers to config.o(.bss.robot_config) for robot_config + config.o(.text.Config_GetRobotParam) refers to config.o(.data.robot_config) for robot_config config.o(.ARM.exidx.text.Config_GetRobotParam) refers to config.o(.text.Config_GetRobotParam) for [Anonymous Symbol] at9s_pro_cmd.o(.ARM.exidx.text.COMP_AT9S_CMD_ParseRc) refers to at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) for [Anonymous Symbol] + xm_quadctrl.o(.ARM.exidx.text.Kalman_Init) refers to xm_quadctrl.o(.text.Kalman_Init) for [Anonymous Symbol] + xm_quadctrl.o(.ARM.exidx.text.Kalman_Update) refers to xm_quadctrl.o(.text.Kalman_Update) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_UpdateStatus) refers to atan2f.o(i.__hardfp_atan2f) for __hardfp_atan2f + xm_quadctrl.o(.text.Quad_UpdateStatus) refers to xm_quadctrl.o(.text.Kalman_Update) for Kalman_Update + xm_quadctrl.o(.text.Quad_UpdateStatus) refers to heightestimation.o(.text.HeightEstimation_GetHeight) for HeightEstimation_GetHeight + xm_quadctrl.o(.ARM.exidx.text.Quad_UpdateStatus) refers to xm_quadctrl.o(.text.Quad_UpdateStatus) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_SetTargetStates) refers to xm_quadctrl.o(.text.Quad_Math_LimitFloat) for Quad_Math_LimitFloat + xm_quadctrl.o(.ARM.exidx.text.Quad_SetTargetStates) refers to xm_quadctrl.o(.text.Quad_SetTargetStates) for [Anonymous Symbol] + xm_quadctrl.o(.ARM.exidx.text.Quad_Math_LimitFloat) refers to xm_quadctrl.o(.text.Quad_Math_LimitFloat) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_PosCtrl) refers to pid.o(.text.PID_Calc) for PID_Calc + xm_quadctrl.o(.text.Quad_PosCtrl) refers to xm_quadctrl.o(.text.Quad_Math_LimitFloat) for Quad_Math_LimitFloat + xm_quadctrl.o(.ARM.exidx.text.Quad_PosCtrl) refers to xm_quadctrl.o(.text.Quad_PosCtrl) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_AttCtrl_agl) refers to pid.o(.text.PID_Calc) for PID_Calc + xm_quadctrl.o(.ARM.exidx.text.Quad_AttCtrl_agl) refers to xm_quadctrl.o(.text.Quad_AttCtrl_agl) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_AttCtrl_omg) refers to pid.o(.text.PID_Calc) for PID_Calc + xm_quadctrl.o(.ARM.exidx.text.Quad_AttCtrl_omg) refers to xm_quadctrl.o(.text.Quad_AttCtrl_omg) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_Mixer) refers to xm_quadctrl.o(.text.Quad_Math_ScaleSumTo1) for Quad_Math_ScaleSumTo1 + xm_quadctrl.o(.text.Quad_Mixer) refers to xm_quadctrl.o(.text.Quad_Math_LimitFloat) for Quad_Math_LimitFloat + xm_quadctrl.o(.text.Quad_Mixer) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + xm_quadctrl.o(.text.Quad_Mixer) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + xm_quadctrl.o(.text.Quad_Mixer) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + xm_quadctrl.o(.text.Quad_Mixer) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + xm_quadctrl.o(.ARM.exidx.text.Quad_Mixer) refers to xm_quadctrl.o(.text.Quad_Mixer) for [Anonymous Symbol] + xm_quadctrl.o(.ARM.exidx.text.Quad_Math_ScaleSumTo1) refers to xm_quadctrl.o(.text.Quad_Math_ScaleSumTo1) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_OutPut) refers to pwm.o(.text.BSP_PWM_SetComp) for BSP_PWM_SetComp + xm_quadctrl.o(.ARM.exidx.text.Quad_OutPut) refers to xm_quadctrl.o(.text.Quad_OutPut) for [Anonymous Symbol] + xm_quadctrl.o(.ARM.exidx.text.Quad_ResetStatus) refers to xm_quadctrl.o(.text.Quad_ResetStatus) for [Anonymous Symbol] + xm_quadctrl.o(.ARM.exidx.text.Quad_ResetOutput) refers to xm_quadctrl.o(.text.Quad_ResetOutput) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_Init) refers to xm_quadctrl.o(.text.Kalman_Init) for Kalman_Init + xm_quadctrl.o(.text.Quad_Init) refers to filter.o(.text.LowPassFilter2p_Init) for LowPassFilter2p_Init + xm_quadctrl.o(.text.Quad_Init) refers to pid.o(.text.PID_Init) for PID_Init + xm_quadctrl.o(.text.Quad_Init) refers to pwm.o(.text.BSP_PWM_Start) for BSP_PWM_Start + xm_quadctrl.o(.ARM.exidx.text.Quad_Init) refers to xm_quadctrl.o(.text.Quad_Init) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_Ctrl) refers to time.o(.text.BSP_TIME_Get_us) for BSP_TIME_Get_us + xm_quadctrl.o(.text.Quad_Ctrl) refers to ffltll_clz.o(x$fpl$ffltll) for __aeabi_ul2f + xm_quadctrl.o(.text.Quad_Ctrl) refers to ffixll.o(x$fpl$llsfromf) for __aeabi_f2lz + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_UpdateStatus) for Quad_UpdateStatus + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_SetTargetStates) for Quad_SetTargetStates + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.bss.Quad_Ctrl.cnt_1ms) for Quad_Ctrl.cnt_1ms + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_PosCtrl) for Quad_PosCtrl + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_AttCtrl_agl) for Quad_AttCtrl_agl + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_AttCtrl_omg) for Quad_AttCtrl_omg + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_Mixer) for Quad_Mixer + xm_quadctrl.o(.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_OutPut) for Quad_OutPut + xm_quadctrl.o(.ARM.exidx.text.Quad_Ctrl) refers to xm_quadctrl.o(.text.Quad_Ctrl) for [Anonymous Symbol] + xm_quadctrl.o(.text.Quad_stop) refers to pwm.o(.text.BSP_PWM_Stop) for BSP_PWM_Stop + xm_quadctrl.o(.ARM.exidx.text.Quad_stop) refers to xm_quadctrl.o(.text.Quad_stop) for [Anonymous Symbol] heightestimation.o(.text.HeightEstimation_Updata) refers to heightestimation.o(.bss.pressure) for pressure heightestimation.o(.text.HeightEstimation_Updata) refers to heightestimation.o(.bss.temperature) for temperature heightestimation.o(.text.HeightEstimation_Updata) refers to spl06_1.o(.text.SPL06_Update) for SPL06_Update @@ -3058,6 +3085,61 @@ Section Cross References heightestimation.o(.text.HeightEstimation_GetHeight) refers to heightestimation.o(.bss.alt_kf) for alt_kf heightestimation.o(.text.HeightEstimation_GetHeight) refers to altitudekalman.o(.text.AltKalman_Update) for AltKalman_Update heightestimation.o(.ARM.exidx.text.HeightEstimation_GetHeight) refers to heightestimation.o(.text.HeightEstimation_GetHeight) for [Anonymous Symbol] + init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osKernelLock) for osKernelLock + init.o(.text.Task_Init) refers to atti_esti.o(.text.Task_atti_esti) for Task_atti_esti + init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_atti_esti) for attr_atti_esti + init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osThreadNew) for osThreadNew + init.o(.text.Task_Init) refers to user_task.o(.bss.task_runtime) for task_runtime + init.o(.text.Task_Init) refers to blink.o(.text.Task_blink) for Task_blink + init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_blink) for attr_blink + init.o(.text.Task_Init) refers to height_cal.o(.text.Task_height_cal) for Task_height_cal + init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_height_cal) for attr_height_cal + init.o(.text.Task_Init) refers to quad_ctrl.o(.text.Task_quad_ctrl) for Task_quad_ctrl + init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_quad_ctrl) for attr_quad_ctrl + init.o(.text.Task_Init) refers to cmd_1.o(.text.Task_cmd) for Task_cmd + init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_cmd) for attr_cmd + init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osMessageQueueNew) for osMessageQueueNew + init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osKernelUnlock) for osKernelUnlock + init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osThreadGetId) for osThreadGetId + init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osThreadTerminate) for osThreadTerminate + init.o(.ARM.exidx.text.Task_Init) refers to init.o(.text.Task_Init) for [Anonymous Symbol] + user_task.o(.rodata.attr_init) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] + user_task.o(.rodata.attr_atti_esti) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] + user_task.o(.rodata.attr_blink) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] + user_task.o(.rodata.attr_height_cal) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] + user_task.o(.rodata.attr_quad_ctrl) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] + user_task.o(.rodata.attr_cmd) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] + blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq + blink.o(.text.Task_blink) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d + blink.o(.text.Task_blink) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + blink.o(.text.Task_blink) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz + blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osDelay) for osDelay + blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount + blink.o(.text.Task_blink) refers to pwm.o(.text.BSP_PWM_Stop) for BSP_PWM_Stop + blink.o(.text.Task_blink) refers to pwm.o(.text.BSP_PWM_SetComp) for BSP_PWM_SetComp + blink.o(.text.Task_blink) refers to pwm.o(.text.BSP_PWM_Start) for BSP_PWM_Start + blink.o(.text.Task_blink) refers to sinf.o(i.__hardfp_sinf) for __hardfp_sinf + blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil + blink.o(.ARM.exidx.text.Task_blink) refers to blink.o(.text.Task_blink) for [Anonymous Symbol] + cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq + cmd_1.o(.text.Task_cmd) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d + cmd_1.o(.text.Task_cmd) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + cmd_1.o(.text.Task_cmd) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz + cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osDelay) for osDelay + cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount + cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.at9s) for at9s + cmd_1.o(.text.Task_cmd) refers to at9s_pro.o(.text.DEVICE_AT9S_Init) for DEVICE_AT9S_Init + cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd_buffer) for cmd_buffer + cmd_1.o(.text.Task_cmd) refers to at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) for DEVICE_AT9S_StartDmaRecv + cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.rc_cmd) for rc_cmd + cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd_for_quad) for cmd_for_quad + cmd_1.o(.text.Task_cmd) refers to user_task.o(.bss.task_runtime) for task_runtime + cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueuePut) for osMessageQueuePut + cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil + cmd_1.o(.text.Task_cmd) refers to at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) for DEVICE_AT9S_WaitDmaCplt + cmd_1.o(.text.Task_cmd) refers to at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) for DEVICE_AT9S_ParseRaw + cmd_1.o(.text.Task_cmd) refers to at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) for COMP_AT9S_CMD_ParseRc + cmd_1.o(.ARM.exidx.text.Task_cmd) refers to cmd_1.o(.text.Task_cmd) for [Anonymous Symbol] atti_esti.o(.text.Task_atti_esti) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq atti_esti.o(.text.Task_atti_esti) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d atti_esti.o(.text.Task_atti_esti) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv @@ -3075,7 +3157,9 @@ Section Cross References atti_esti.o(.text.Task_atti_esti) refers to atti_esti.o(.rodata.imu_temp_ctrl_pid_param) for imu_temp_ctrl_pid_param atti_esti.o(.text.Task_atti_esti) refers to pid.o(.text.PID_Init) for PID_Init atti_esti.o(.text.Task_atti_esti) refers to pwm.o(.text.BSP_PWM_Start) for BSP_PWM_Start + atti_esti.o(.text.Task_atti_esti) refers to atti_esti.o(.bss.eulr_to_send) for eulr_to_send atti_esti.o(.text.Task_atti_esti) refers to atti_esti.o(.bss.accl_z_for_heightestimation) for accl_z_for_heightestimation + atti_esti.o(.text.Task_atti_esti) refers to atti_esti.o(.bss.eulr_for_quad) for eulr_for_quad atti_esti.o(.text.Task_atti_esti) refers to user_task.o(.bss.task_runtime) for task_runtime atti_esti.o(.text.Task_atti_esti) refers to bmi088.o(.text.BMI088_WaitNew) for BMI088_WaitNew atti_esti.o(.text.Task_atti_esti) refers to bmi088.o(.text.BMI088_AcclStartDmaRecv) for BMI088_AcclStartDmaRecv @@ -3086,7 +3170,6 @@ Section Cross References atti_esti.o(.text.Task_atti_esti) refers to bmi088.o(.text.BMI088_ParseAccl) for BMI088_ParseAccl atti_esti.o(.text.Task_atti_esti) refers to bmi088.o(.text.BMI088_ParseGyro) for BMI088_ParseGyro atti_esti.o(.text.Task_atti_esti) refers to ahrs.o(.text.AHRS_Update) for AHRS_Update - atti_esti.o(.text.Task_atti_esti) refers to atti_esti.o(.bss.eulr_to_send) for eulr_to_send atti_esti.o(.text.Task_atti_esti) refers to ahrs.o(.text.AHRS_GetEulr) for AHRS_GetEulr atti_esti.o(.text.Task_atti_esti) refers to cmsis_os2.o(.text.osKernelUnlock) for osKernelUnlock atti_esti.o(.text.Task_atti_esti) refers to cmsis_os2.o(.text.osMessageQueuePut) for osMessageQueuePut @@ -3107,63 +3190,24 @@ Section Cross References height_cal.o(.text.Task_height_cal) refers to height_cal.o(.bss.estimated_velocity) for estimated_velocity height_cal.o(.text.Task_height_cal) refers to cmsis_os2.o(.text.osMessageQueueGet) for osMessageQueueGet height_cal.o(.text.Task_height_cal) refers to heightestimation.o(.text.HeightEstimation_GetHeight) for HeightEstimation_GetHeight + height_cal.o(.text.Task_height_cal) refers to cmsis_os2.o(.text.osMessageQueuePut) for osMessageQueuePut height_cal.o(.text.Task_height_cal) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil height_cal.o(.ARM.exidx.text.Task_height_cal) refers to height_cal.o(.text.Task_height_cal) for [Anonymous Symbol] - init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osKernelLock) for osKernelLock - init.o(.text.Task_Init) refers to atti_esti.o(.text.Task_atti_esti) for Task_atti_esti - init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_atti_esti) for attr_atti_esti - init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osThreadNew) for osThreadNew - init.o(.text.Task_Init) refers to user_task.o(.bss.task_runtime) for task_runtime - init.o(.text.Task_Init) refers to rc.o(.text.Task_rc) for Task_rc - init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_rc) for attr_rc - init.o(.text.Task_Init) refers to blink.o(.text.Task_blink) for Task_blink - init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_blink) for attr_blink - init.o(.text.Task_Init) refers to height_cal.o(.text.Task_height_cal) for Task_height_cal - init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_height_cal) for attr_height_cal - init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osMessageQueueNew) for osMessageQueueNew - init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osKernelUnlock) for osKernelUnlock - init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osThreadGetId) for osThreadGetId - init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osThreadTerminate) for osThreadTerminate - init.o(.ARM.exidx.text.Task_Init) refers to init.o(.text.Task_Init) for [Anonymous Symbol] - main_control.o(.text.Task_main_control) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq - main_control.o(.text.Task_main_control) refers to cmsis_os2.o(.text.osDelay) for osDelay - main_control.o(.text.Task_main_control) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount - main_control.o(.text.Task_main_control) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil - main_control.o(.ARM.exidx.text.Task_main_control) refers to main_control.o(.text.Task_main_control) for [Anonymous Symbol] - user_task.o(.rodata.attr_init) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] - user_task.o(.rodata.attr_atti_esti) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] - user_task.o(.rodata.attr_rc) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] - user_task.o(.rodata.attr_blink) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] - user_task.o(.rodata.attr_height_cal) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] - user_task.o(.rodata.attr_main_ctrl) refers to user_task.o(.rodata.str1.1) for [Anonymous Symbol] - blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq - blink.o(.text.Task_blink) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d - blink.o(.text.Task_blink) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv - blink.o(.text.Task_blink) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz - blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osDelay) for osDelay - blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount - blink.o(.text.Task_blink) refers to pwm.o(.text.BSP_PWM_Stop) for BSP_PWM_Stop - blink.o(.text.Task_blink) refers to pwm.o(.text.BSP_PWM_SetComp) for BSP_PWM_SetComp - blink.o(.text.Task_blink) refers to pwm.o(.text.BSP_PWM_Start) for BSP_PWM_Start - blink.o(.text.Task_blink) refers to sinf.o(i.__hardfp_sinf) for __hardfp_sinf - blink.o(.text.Task_blink) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil - blink.o(.ARM.exidx.text.Task_blink) refers to blink.o(.text.Task_blink) for [Anonymous Symbol] - rc.o(.text.Task_rc) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq - rc.o(.text.Task_rc) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d - rc.o(.text.Task_rc) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv - rc.o(.text.Task_rc) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz - rc.o(.text.Task_rc) refers to cmsis_os2.o(.text.osDelay) for osDelay - rc.o(.text.Task_rc) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount - rc.o(.text.Task_rc) refers to rc.o(.bss.at9s) for at9s - rc.o(.text.Task_rc) refers to at9s_pro.o(.text.DEVICE_AT9S_Init) for DEVICE_AT9S_Init - rc.o(.text.Task_rc) refers to rc.o(.bss.cmd_buffer) for cmd_buffer - rc.o(.text.Task_rc) refers to at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) for DEVICE_AT9S_StartDmaRecv - rc.o(.text.Task_rc) refers to rc.o(.bss.rc_cmd) for rc_cmd - rc.o(.text.Task_rc) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil - rc.o(.text.Task_rc) refers to at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) for DEVICE_AT9S_WaitDmaCplt - rc.o(.text.Task_rc) refers to at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) for DEVICE_AT9S_ParseRaw - rc.o(.text.Task_rc) refers to at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) for COMP_AT9S_CMD_ParseRc - rc.o(.ARM.exidx.text.Task_rc) refers to rc.o(.text.Task_rc) for [Anonymous Symbol] + quad_ctrl.o(.text.Task_quad_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq + quad_ctrl.o(.text.Task_quad_ctrl) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d + quad_ctrl.o(.text.Task_quad_ctrl) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + quad_ctrl.o(.text.Task_quad_ctrl) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz + quad_ctrl.o(.text.Task_quad_ctrl) refers to cmsis_os2.o(.text.osDelay) for osDelay + quad_ctrl.o(.text.Task_quad_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount + quad_ctrl.o(.text.Task_quad_ctrl) refers to config.o(.text.Config_GetRobotParam) for Config_GetRobotParam + quad_ctrl.o(.text.Task_quad_ctrl) refers to quad_ctrl.o(.bss.q) for q + quad_ctrl.o(.text.Task_quad_ctrl) refers to xm_quadctrl.o(.text.Quad_Init) for Quad_Init + quad_ctrl.o(.text.Task_quad_ctrl) refers to user_task.o(.bss.task_runtime) for task_runtime + quad_ctrl.o(.text.Task_quad_ctrl) refers to quad_ctrl.o(.bss.quad_cmd) for quad_cmd + quad_ctrl.o(.text.Task_quad_ctrl) refers to cmsis_os2.o(.text.osMessageQueueGet) for osMessageQueueGet + quad_ctrl.o(.text.Task_quad_ctrl) refers to xm_quadctrl.o(.text.Quad_Ctrl) for Quad_Ctrl + quad_ctrl.o(.text.Task_quad_ctrl) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil + quad_ctrl.o(.ARM.exidx.text.Task_quad_ctrl) refers to quad_ctrl.o(.text.Task_quad_ctrl) for [Anonymous Symbol] __2sprintf.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common __2sprintf.o(.text) refers to _sputc.o(.text) for _sputc __2snprintf.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common @@ -3234,6 +3278,10 @@ Section Cross References f2d.o(x$fpl$f2d) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp f2d.o(x$fpl$f2d) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf f2d.o(x$fpl$f2d) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + ffixll.o(x$fpl$llsfromf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffixll.o(x$fpl$llsfromf) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffixll.o(x$fpl$llsfromfr) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffixll.o(x$fpl$llsfromfr) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf ffixull.o(x$fpl$llufromf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp ffixull.o(x$fpl$llufromf) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf ffixull.o(x$fpl$llufromfr) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp @@ -5391,62 +5439,52 @@ Removing Unused input sections from the image. Removing user_math.o(.ARM.exidx.text.CircleReverse), (8 bytes). Removing user_math.o(.text.CalculateRpm), (176 bytes). Removing user_math.o(.ARM.exidx.text.CalculateRpm), (8 bytes). - Removing cmd.o(.text), (0 bytes). - Removing cmd.o(.text.CMD_Init), (20 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_Init), (8 bytes). - Removing cmd.o(.text.CMD_CheckHostOverwrite), (4 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_CheckHostOverwrite), (8 bytes). - Removing cmd.o(.text.CMD_ParseRc), (158 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_ParseRc), (8 bytes). - Removing cmd.o(.text.CMD_KeyPressedRc), (10 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_KeyPressedRc), (8 bytes). - Removing cmd.o(.text.CMD_RcLostLogic), (14 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_RcLostLogic), (8 bytes). - Removing cmd.o(.text.CMD_PcLogic), (538 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_PcLogic), (8 bytes). - Removing cmd.o(.text.CMD_RcLogic), (152 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_RcLogic), (8 bytes). - Removing cmd.o(.text.CMD_ParseHost), (58 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_ParseHost), (8 bytes). - Removing cmd.o(.text.CMD_RefereeAdd), (28 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_RefereeAdd), (8 bytes). - Removing cmd.o(.text.CMD_BehaviorOccurredRc), (104 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_BehaviorOccurredRc), (8 bytes). - Removing cmd.o(.text.CMD_BehaviorToKey), (10 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_BehaviorToKey), (8 bytes). - Removing cmd.o(.text.CMD_BehaviorToActive), (10 bytes). - Removing cmd.o(.ARM.exidx.text.CMD_BehaviorToActive), (8 bytes). Removing altitudekalman.o(.text), (0 bytes). Removing altitudekalman.o(.ARM.exidx.text.AltKalman_Init), (8 bytes). Removing altitudekalman.o(.ARM.exidx.text.AltKalman_Update), (8 bytes). Removing config.o(.text), (0 bytes). - Removing config.o(.text.Config_GetRobotParam), (10 bytes). Removing config.o(.ARM.exidx.text.Config_GetRobotParam), (8 bytes). - Removing config.o(.bss.robot_config), (0 bytes). Removing at9s_pro_cmd.o(.text), (0 bytes). Removing at9s_pro_cmd.o(.ARM.exidx.text.COMP_AT9S_CMD_ParseRc), (8 bytes). Removing xm_quadctrl.o(.text), (0 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Kalman_Init), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Kalman_Update), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_UpdateStatus), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_SetTargetStates), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_Math_LimitFloat), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_PosCtrl), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_AttCtrl_agl), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_AttCtrl_omg), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_Mixer), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_Math_ScaleSumTo1), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_OutPut), (8 bytes). + Removing xm_quadctrl.o(.text.Quad_ResetStatus), (4 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_ResetStatus), (8 bytes). + Removing xm_quadctrl.o(.text.Quad_ResetOutput), (16 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_ResetOutput), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_Init), (8 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_Ctrl), (8 bytes). + Removing xm_quadctrl.o(.text.Quad_stop), (28 bytes). + Removing xm_quadctrl.o(.ARM.exidx.text.Quad_stop), (8 bytes). Removing heightestimation.o(.text), (0 bytes). Removing heightestimation.o(.ARM.exidx.text.HeightEstimation_Updata), (8 bytes). Removing heightestimation.o(.ARM.exidx.text.HeightEstimation_Init), (8 bytes). Removing heightestimation.o(.ARM.exidx.text.HeightEstimation_GetHeight), (8 bytes). + Removing init.o(.text), (0 bytes). + Removing init.o(.ARM.exidx.text.Task_Init), (8 bytes). + Removing user_task.o(.text), (0 bytes). + Removing blink.o(.text), (0 bytes). + Removing blink.o(.ARM.exidx.text.Task_blink), (8 bytes). + Removing cmd_1.o(.text), (0 bytes). + Removing cmd_1.o(.ARM.exidx.text.Task_cmd), (8 bytes). Removing atti_esti.o(.text), (0 bytes). Removing atti_esti.o(.ARM.exidx.text.Task_atti_esti), (8 bytes). Removing height_cal.o(.text), (0 bytes). Removing height_cal.o(.ARM.exidx.text.Task_height_cal), (8 bytes). - Removing init.o(.text), (0 bytes). - Removing init.o(.ARM.exidx.text.Task_Init), (8 bytes). - Removing main_control.o(.text), (0 bytes). - Removing main_control.o(.text.Task_main_control), (46 bytes). - Removing main_control.o(.ARM.exidx.text.Task_main_control), (8 bytes). - Removing user_task.o(.text), (0 bytes). - Removing user_task.o(.rodata.attr_main_ctrl), (36 bytes). - Removing blink.o(.text), (0 bytes). - Removing blink.o(.ARM.exidx.text.Task_blink), (8 bytes). - Removing rc.o(.text), (0 bytes). - Removing rc.o(.ARM.exidx.text.Task_rc), (8 bytes). + Removing quad_ctrl.o(.text), (0 bytes). + Removing quad_ctrl.o(.ARM.exidx.text.Task_quad_ctrl), (8 bytes). -1862 unused section(s) (total 73952 bytes) removed from the image. +1852 unused section(s) (total 72834 bytes) removed from the image. ============================================================================== @@ -5460,7 +5498,7 @@ Image Symbol Table ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE - ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_copy.o ABSOLUTE + ../clib/angel/dczerorl2.s 0x00000000 Number 0 __dczerorl2.o ABSOLUTE ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry2.o ABSOLUTE @@ -5575,6 +5613,7 @@ Image Symbol Table ../fplib/drleqf.s 0x00000000 Number 0 drleqf.o ABSOLUTE ../fplib/dsqrt.s 0x00000000 Number 0 dsqrt_umaal.o ABSOLUTE ../fplib/f2d.s 0x00000000 Number 0 f2d.o ABSOLUTE + ../fplib/ffixll.s 0x00000000 Number 0 ffixll.o ABSOLUTE ../fplib/ffixull.s 0x00000000 Number 0 ffixull.o ABSOLUTE ../fplib/ffltll.s 0x00000000 Number 0 ffltll_clz.o ABSOLUTE ../fplib/fnaninf.s 0x00000000 Number 0 fnaninf.o ABSOLUTE @@ -5613,7 +5652,7 @@ Image Symbol Table blink.c 0x00000000 Number 0 blink.o ABSOLUTE bmi088.c 0x00000000 Number 0 bmi088.o ABSOLUTE buzzer.c 0x00000000 Number 0 buzzer.o ABSOLUTE - cmd.c 0x00000000 Number 0 cmd.o ABSOLUTE + cmd.c 0x00000000 Number 0 cmd_1.o ABSOLUTE cmsis_os2.c 0x00000000 Number 0 cmsis_os2.o ABSOLUTE config.c 0x00000000 Number 0 config.o ABSOLUTE croutine.c 0x00000000 Number 0 croutine.o ABSOLUTE @@ -5633,13 +5672,12 @@ Image Symbol Table led.c 0x00000000 Number 0 led.o ABSOLUTE list.c 0x00000000 Number 0 list.o ABSOLUTE main.c 0x00000000 Number 0 main.o ABSOLUTE - main_control.c 0x00000000 Number 0 main_control.o ABSOLUTE mm.c 0x00000000 Number 0 mm.o ABSOLUTE pid.c 0x00000000 Number 0 pid.o ABSOLUTE port.c 0x00000000 Number 0 port.o ABSOLUTE pwm.c 0x00000000 Number 0 pwm.o ABSOLUTE + quad_ctrl.c 0x00000000 Number 0 quad_ctrl.o ABSOLUTE queue.c 0x00000000 Number 0 queue.o ABSOLUTE - rc.c 0x00000000 Number 0 rc.o ABSOLUTE spi.c 0x00000000 Number 0 spi.o ABSOLUTE spi.c 0x00000000 Number 0 spi_1.o ABSOLUTE spl06.c 0x00000000 Number 0 spl06_1.o ABSOLUTE @@ -5681,692 +5719,713 @@ Image Symbol Table RESET 0x08000000 Section 392 startup_stm32f407xx.o(RESET) !!!main 0x08000188 Section 8 __main.o(!!!main) !!!scatter 0x08000190 Section 52 __scatter.o(!!!scatter) - !!handler_copy 0x080001c4 Section 26 __scatter_copy.o(!!handler_copy) - !!handler_zi 0x080001e0 Section 28 __scatter_zi.o(!!handler_zi) - .ARM.Collect$$libinit$$00000000 0x080001fc Section 2 libinit.o(.ARM.Collect$$libinit$$00000000) - .ARM.Collect$$libinit$$00000001 0x080001fe Section 4 libinit2.o(.ARM.Collect$$libinit$$00000001) - .ARM.Collect$$libinit$$00000004 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000004) - .ARM.Collect$$libinit$$0000000A 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000A) - .ARM.Collect$$libinit$$0000000C 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000C) - .ARM.Collect$$libinit$$0000000E 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000E) - .ARM.Collect$$libinit$$00000011 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000011) - .ARM.Collect$$libinit$$00000013 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000013) - .ARM.Collect$$libinit$$00000015 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000015) - .ARM.Collect$$libinit$$00000017 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000017) - .ARM.Collect$$libinit$$00000019 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000019) - .ARM.Collect$$libinit$$0000001B 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001B) - .ARM.Collect$$libinit$$0000001D 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001D) - .ARM.Collect$$libinit$$0000001F 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001F) - .ARM.Collect$$libinit$$00000021 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000021) - .ARM.Collect$$libinit$$00000023 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000023) - .ARM.Collect$$libinit$$00000025 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000025) - .ARM.Collect$$libinit$$0000002C 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000002C) - .ARM.Collect$$libinit$$0000002E 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000002E) - .ARM.Collect$$libinit$$00000030 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000030) - .ARM.Collect$$libinit$$00000032 0x08000202 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000032) - .ARM.Collect$$libinit$$00000033 0x08000202 Section 2 libinit2.o(.ARM.Collect$$libinit$$00000033) - .ARM.Collect$$libshutdown$$00000000 0x08000204 Section 2 libshutdown.o(.ARM.Collect$$libshutdown$$00000000) - .ARM.Collect$$libshutdown$$00000002 0x08000206 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) - .ARM.Collect$$libshutdown$$00000004 0x08000206 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) - .ARM.Collect$$libshutdown$$00000007 0x08000206 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) - .ARM.Collect$$libshutdown$$0000000A 0x08000206 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) - .ARM.Collect$$libshutdown$$0000000C 0x08000206 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) - .ARM.Collect$$libshutdown$$0000000F 0x08000206 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) - .ARM.Collect$$libshutdown$$00000010 0x08000206 Section 2 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) - .ARM.Collect$$rtentry$$00000000 0x08000208 Section 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000) - .ARM.Collect$$rtentry$$00000002 0x08000208 Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002) - .ARM.Collect$$rtentry$$00000004 0x08000208 Section 6 __rtentry4.o(.ARM.Collect$$rtentry$$00000004) - .ARM.Collect$$rtentry$$00000009 0x0800020e Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009) - .ARM.Collect$$rtentry$$0000000A 0x0800020e Section 4 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) - .ARM.Collect$$rtentry$$0000000C 0x08000212 Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) - .ARM.Collect$$rtentry$$0000000D 0x08000212 Section 8 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) - .ARM.Collect$$rtexit$$00000000 0x0800021a Section 2 rtexit.o(.ARM.Collect$$rtexit$$00000000) - .ARM.Collect$$rtexit$$00000002 0x0800021c Section 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002) - .ARM.Collect$$rtexit$$00000003 0x0800021c Section 4 rtexit2.o(.ARM.Collect$$rtexit$$00000003) - .ARM.Collect$$rtexit$$00000004 0x08000220 Section 6 rtexit2.o(.ARM.Collect$$rtexit$$00000004) - $v0 0x08000228 Number 0 startup_stm32f407xx.o(.text) - .text 0x08000228 Section 64 startup_stm32f407xx.o(.text) - .text 0x08000268 Section 240 lludivv7m.o(.text) - .text 0x08000358 Section 138 rt_memcpy_v6.o(.text) - .text 0x080003e2 Section 100 rt_memcpy_w.o(.text) - .text 0x08000446 Section 16 aeabi_memset4.o(.text) - .text 0x08000456 Section 78 rt_memclr_w.o(.text) - .text 0x080004a4 Section 0 heapauxi.o(.text) - .text 0x080004aa Section 0 _rserrno.o(.text) - .text 0x080004c0 Section 8 rt_errno_addr_intlibspace.o(.text) - .text 0x080004c8 Section 8 libspace.o(.text) - .text 0x080004d0 Section 74 sys_stackheap_outer.o(.text) - .text 0x0800051a Section 0 exit.o(.text) - .text 0x0800052c Section 0 sys_exit.o(.text) - .text 0x08000538 Section 2 use_no_semi.o(.text) - .text 0x0800053a Section 0 indicate_semi.o(.text) - [Anonymous Symbol] 0x0800053c Section 0 ahrs.o(.text.AHRS_GetEulr) - [Anonymous Symbol] 0x08000618 Section 0 ahrs.o(.text.AHRS_Init) - [Anonymous Symbol] 0x0800079c Section 0 ahrs.o(.text.AHRS_Update) - AHRS_UpdateIMU 0x08000d2d Thumb Code 752 ahrs.o(.text.AHRS_UpdateIMU) - [Anonymous Symbol] 0x08000d2c Section 0 ahrs.o(.text.AHRS_UpdateIMU) - [Anonymous Symbol] 0x0800101c Section 0 user_math.o(.text.AbsClip) - [Anonymous Symbol] 0x08001040 Section 0 altitudekalman.o(.text.AltKalman_Init) - [Anonymous Symbol] 0x08001070 Section 0 altitudekalman.o(.text.AltKalman_Update) - BMI088_AcclIntCallback 0x0800113d Thumb Code 20 bmi088.o(.text.BMI088_AcclIntCallback) - [Anonymous Symbol] 0x0800113c Section 0 bmi088.o(.text.BMI088_AcclIntCallback) - [Anonymous Symbol] 0x08001150 Section 0 bmi088.o(.text.BMI088_AcclStartDmaRecv) - [Anonymous Symbol] 0x08001168 Section 0 bmi088.o(.text.BMI088_AcclWaitDmaCplt) - [Anonymous Symbol] 0x08001178 Section 0 bmi088.o(.text.BMI088_GetUpdateFreq) - BMI088_GyroIntCallback 0x08001185 Thumb Code 20 bmi088.o(.text.BMI088_GyroIntCallback) - [Anonymous Symbol] 0x08001184 Section 0 bmi088.o(.text.BMI088_GyroIntCallback) - [Anonymous Symbol] 0x08001198 Section 0 bmi088.o(.text.BMI088_GyroStartDmaRecv) - [Anonymous Symbol] 0x080011b4 Section 0 bmi088.o(.text.BMI088_GyroWaitDmaCplt) - [Anonymous Symbol] 0x080011c4 Section 0 bmi088.o(.text.BMI088_Init) - [Anonymous Symbol] 0x08001308 Section 0 bmi088.o(.text.BMI088_ParseAccl) - [Anonymous Symbol] 0x0800139c Section 0 bmi088.o(.text.BMI088_ParseGyro) - BMI088_RxCpltCallback 0x08001421 Thumb Code 64 bmi088.o(.text.BMI088_RxCpltCallback) - [Anonymous Symbol] 0x08001420 Section 0 bmi088.o(.text.BMI088_RxCpltCallback) - [Anonymous Symbol] 0x08001460 Section 0 bmi088.o(.text.BMI088_WaitNew) - BMI_Read 0x08001471 Thumb Code 66 bmi088.o(.text.BMI_Read) - [Anonymous Symbol] 0x08001470 Section 0 bmi088.o(.text.BMI_Read) - BMI_ReadSingle 0x080014b5 Thumb Code 94 bmi088.o(.text.BMI_ReadSingle) - [Anonymous Symbol] 0x080014b4 Section 0 bmi088.o(.text.BMI_ReadSingle) - BMI_WriteSingle 0x08001515 Thumb Code 72 bmi088.o(.text.BMI_WriteSingle) - [Anonymous Symbol] 0x08001514 Section 0 bmi088.o(.text.BMI_WriteSingle) - [Anonymous Symbol] 0x0800155c Section 0 gpio_1.o(.text.BSP_GPIO_DisableIRQ) - [Anonymous Symbol] 0x0800158c Section 0 gpio_1.o(.text.BSP_GPIO_EnableIRQ) - [Anonymous Symbol] 0x080015bc Section 0 gpio_1.o(.text.BSP_GPIO_ReadPin) - [Anonymous Symbol] 0x080015e8 Section 0 gpio_1.o(.text.BSP_GPIO_RegisterCallback) - [Anonymous Symbol] 0x08001634 Section 0 gpio_1.o(.text.BSP_GPIO_WritePin) - [Anonymous Symbol] 0x08001664 Section 0 pwm.o(.text.BSP_PWM_SetComp) - [Anonymous Symbol] 0x080016f4 Section 0 pwm.o(.text.BSP_PWM_Start) - [Anonymous Symbol] 0x08001720 Section 0 pwm.o(.text.BSP_PWM_Stop) - [Anonymous Symbol] 0x0800174c Section 0 spi_1.o(.text.BSP_SPI_GetHandle) - [Anonymous Symbol] 0x08001760 Section 0 spi_1.o(.text.BSP_SPI_Receive) - [Anonymous Symbol] 0x08001794 Section 0 spi_1.o(.text.BSP_SPI_RegisterCallback) - [Anonymous Symbol] 0x080017b4 Section 0 spi_1.o(.text.BSP_SPI_Transmit) - [Anonymous Symbol] 0x080017e8 Section 0 time.o(.text.BSP_TIME_Delay_ms) - [Anonymous Symbol] 0x08001840 Section 0 time.o(.text.BSP_TIME_Delay_us) - [Anonymous Symbol] 0x08001860 Section 0 time.o(.text.BSP_TIME_Get_us) - [Anonymous Symbol] 0x080018b0 Section 0 uart.o(.text.BSP_UART_GetHandle) - [Anonymous Symbol] 0x080018d0 Section 0 uart.o(.text.BSP_UART_IRQHandler) - [Anonymous Symbol] 0x0800190c Section 0 uart.o(.text.BSP_UART_RegisterCallback) - [Anonymous Symbol] 0x08001940 Section 0 stm32f4xx_it.o(.text.BusFault_Handler) - [Anonymous Symbol] 0x08001944 Section 0 at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) - [Anonymous Symbol] 0x08001b60 Section 0 user_math.o(.text.CircleError) - [Anonymous Symbol] 0x08001b9c Section 0 at9s_pro.o(.text.DEVICE_AT9S_Init) - [Anonymous Symbol] 0x08001be4 Section 0 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) - DEVICE_AT9S_RxCpltCallback 0x08001e5d Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) - [Anonymous Symbol] 0x08001e5c Section 0 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) - [Anonymous Symbol] 0x08001e74 Section 0 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) - [Anonymous Symbol] 0x08001e90 Section 0 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) - [Anonymous Symbol] 0x08001eac Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - [Anonymous Symbol] 0x08001ebc Section 0 stm32f4xx_it.o(.text.DMA1_Stream2_IRQHandler) - [Anonymous Symbol] 0x08001ecc Section 0 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - [Anonymous Symbol] 0x08001edc Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - [Anonymous Symbol] 0x08001eec Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - [Anonymous Symbol] 0x08001efc Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DMA_CalcBaseAndBitshift 0x08001f0d Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - [Anonymous Symbol] 0x08001f0c Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x08001f40 Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CheckFifoParam 0x08001f49 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - [Anonymous Symbol] 0x08001f48 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - DMA_SetConfig 0x08001f99 Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08001f98 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08001fc8 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x08001fcc Section 0 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - [Anonymous Symbol] 0x08001fd8 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - [Anonymous Symbol] 0x08001fe4 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - [Anonymous Symbol] 0x08001ff0 Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x08001ff8 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x08002078 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x0800209c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x08002228 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x080022f8 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x0800235c Section 0 stm32f4xx_hal.o(.text.HAL_Delay) - [Anonymous Symbol] 0x08002384 Section 0 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Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream6_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream7_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream0_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream4_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream5_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream7_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - ETH_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - ETH_WKUP_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI0_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI15_10_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI1_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI2_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - FLASH_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - FMC_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - FPU_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - HASH_RNG_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C1_ER_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C1_EV_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C2_ER_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C2_EV_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C3_ER_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C3_EV_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_FS_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_FS_WKUP_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_EP1_IN_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_EP1_OUT_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_WKUP_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - PVD_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - RCC_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - RTC_Alarm_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - RTC_WKUP_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - SDIO_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - SPI1_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - SPI2_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - SPI3_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - TAMP_STAMP_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_BRK_TIM9_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_CC_IRQHandler 0x08000243 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_TRG_COM_TIM11_IRQHandler 0x08000243 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gpio_1.o(.text.BSP_GPIO_RegisterCallback) - BSP_GPIO_WritePin 0x08001635 Thumb Code 48 gpio_1.o(.text.BSP_GPIO_WritePin) - BSP_PWM_SetComp 0x08001665 Thumb Code 144 pwm.o(.text.BSP_PWM_SetComp) - BSP_PWM_Start 0x080016f5 Thumb Code 44 pwm.o(.text.BSP_PWM_Start) - BSP_PWM_Stop 0x08001721 Thumb Code 44 pwm.o(.text.BSP_PWM_Stop) - BSP_SPI_GetHandle 0x0800174d Thumb Code 18 spi_1.o(.text.BSP_SPI_GetHandle) - BSP_SPI_Receive 0x08001761 Thumb Code 52 spi_1.o(.text.BSP_SPI_Receive) - BSP_SPI_RegisterCallback 0x08001795 Thumb Code 30 spi_1.o(.text.BSP_SPI_RegisterCallback) - BSP_SPI_Transmit 0x080017b5 Thumb Code 52 spi_1.o(.text.BSP_SPI_Transmit) - BSP_TIME_Delay 0x080017e9 Thumb Code 88 time.o(.text.BSP_TIME_Delay_ms) - BSP_TIME_Delay_ms 0x080017e9 Thumb Code 88 time.o(.text.BSP_TIME_Delay_ms) - BSP_TIME_Delay_us 0x08001841 Thumb Code 32 time.o(.text.BSP_TIME_Delay_us) - BSP_TIME_Get 0x08001861 Thumb Code 80 time.o(.text.BSP_TIME_Get_us) - BSP_TIME_Get_us 0x08001861 Thumb Code 80 time.o(.text.BSP_TIME_Get_us) - BSP_UART_GetHandle 0x080018b1 Thumb Code 32 uart.o(.text.BSP_UART_GetHandle) - BSP_UART_IRQHandler 0x080018d1 Thumb Code 58 uart.o(.text.BSP_UART_IRQHandler) - BSP_UART_RegisterCallback 0x0800190d Thumb Code 50 uart.o(.text.BSP_UART_RegisterCallback) - BusFault_Handler 0x08001941 Thumb Code 2 stm32f4xx_it.o(.text.BusFault_Handler) - COMP_AT9S_CMD_ParseRc 0x08001945 Thumb Code 540 at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) - CircleError 0x08001b61 Thumb Code 60 user_math.o(.text.CircleError) - DEVICE_AT9S_Init 0x08001b9d Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init) - DEVICE_AT9S_ParseRaw 0x08001be5 Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) - DEVICE_AT9S_StartDmaRecv 0x08001e75 Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) - DEVICE_AT9S_WaitDmaCplt 0x08001e91 Thumb Code 26 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) - DMA1_Stream1_IRQHandler 0x08001ead Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - DMA1_Stream2_IRQHandler 0x08001ebd Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream2_IRQHandler) - DMA2_Stream1_IRQHandler 0x08001ecd Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - DMA2_Stream2_IRQHandler 0x08001edd Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - DMA2_Stream3_IRQHandler 0x08001eed Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DMA2_Stream6_IRQHandler 0x08001efd Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DebugMon_Handler 0x08001fc9 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - EXTI3_IRQHandler 0x08001fcd Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - EXTI4_IRQHandler 0x08001fd9 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x08001fe5 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x08001ff1 Thumb Code 6 main.o(.text.Error_Handler) - HAL_DMA_Abort 0x08001ff9 Thumb Code 128 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x08002079 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_IRQHandler 0x0800209d Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x08002229 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x080022f9 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x0800235d Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08002385 Thumb Code 44 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x080023b1 Thumb Code 26 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x080023cd Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x08002569 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x08002575 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08002581 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_Init 0x0800258d Thumb Code 408 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_MspInit 0x08002725 Thumb Code 242 i2c.o(.text.HAL_I2C_MspInit) - HAL_IncTick 0x08002819 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08002835 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x0800286d Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x080028bd Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08002905 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x0800290d Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08002915 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x08002935 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x0800293d Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x08002a9d Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x08002aa9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08002acd Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08002af1 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x08002b59 Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x08002ea1 Thumb Code 34 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x08002ec5 Thumb Code 180 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x08002f79 Thumb Code 302 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x080030a9 Thumb Code 370 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x0800321d Thumb Code 236 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08003309 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x0800332d Thumb Code 34 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x08003351 Thumb Code 394 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x080034dd Thumb Code 504 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x080036d5 Thumb Code 292 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x080037f9 Thumb Code 204 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x080038c5 Thumb Code 32 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x080038e5 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x08003909 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x0800392d Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x08003951 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_ConfigBreakDeadTime 0x08003959 Thumb Code 76 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime) - HAL_TIMEx_MasterConfigSynchronization 0x080039a5 Thumb Code 184 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08003a5d Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08003ab9 Thumb Code 54 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_MspPostInit 0x08003af1 Thumb Code 322 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_PWM_ConfigChannel 0x08003c35 Thumb Code 152 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x08003ccd Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x08003d29 Thumb Code 140 tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_Start 0x08003db5 Thumb Code 290 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PWM_Stop 0x08003ed9 Thumb Code 130 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Stop) - HAL_UARTEx_RxEventCallback 0x08003f5d Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08003f61 Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x08003f89 Thumb Code 602 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x080041e5 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x08004245 Thumb Code 428 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x080043f1 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_RxCpltCallback 0x0800441d Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x08004445 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HAL_UART_TxCpltCallback 0x0800446d Thumb Code 38 uart.o(.text.HAL_UART_TxCpltCallback) - HardFault_Handler 0x08004495 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) - HeightEstimation_GetHeight 0x08004499 Thumb Code 172 heightestimation.o(.text.HeightEstimation_GetHeight) - HeightEstimation_Init 0x08004545 Thumb Code 244 heightestimation.o(.text.HeightEstimation_Init) - HeightEstimation_Updata 0x08004639 Thumb Code 192 heightestimation.o(.text.HeightEstimation_Updata) - IIC_Ack 0x080046f9 Thumb Code 78 user_iic.o(.text.IIC_Ack) - IIC_NAck 0x08004749 Thumb Code 78 user_iic.o(.text.IIC_NAck) - IIC_Read_Byte 0x08004799 Thumb Code 100 user_iic.o(.text.IIC_Read_Byte) - IIC_Send_Byte 0x080047fd Thumb Code 90 user_iic.o(.text.IIC_Send_Byte) - IIC_Start 0x08004859 Thumb Code 68 user_iic.o(.text.IIC_Start) - IIC_Stop 0x0800489d Thumb Code 58 user_iic.o(.text.IIC_Stop) - IIC_Wait_Ack 0x080048d9 Thumb Code 90 user_iic.o(.text.IIC_Wait_Ack) - InvSqrt 0x08004935 Thumb Code 66 user_math.o(.text.InvSqrt) - LowPassFilter2p_Apply 0x08004979 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x080049f5 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x08004a99 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) - MX_DMA_Init 0x08004af5 Thumb Code 154 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x08004b91 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x08004bcd Thumb Code 416 gpio.o(.text.MX_GPIO_Init) - MX_I2C3_Init 0x08004d6d Thumb Code 62 i2c.o(.text.MX_I2C3_Init) - MX_SPI1_Init 0x08004dad Thumb Code 78 spi.o(.text.MX_SPI1_Init) - MX_TIM10_Init 0x08004dfd Thumb Code 136 tim.o(.text.MX_TIM10_Init) - MX_TIM1_Init 0x08004e85 Thumb Code 282 tim.o(.text.MX_TIM1_Init) - MX_TIM4_Init 0x08004fa1 Thumb Code 146 tim.o(.text.MX_TIM4_Init) - MX_TIM5_Init 0x08005035 Thumb Code 194 tim.o(.text.MX_TIM5_Init) - MX_USART3_UART_Init 0x080050f9 Thumb Code 60 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x08005135 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x0800516d Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x08005171 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x080051a1 Thumb Code 368 pid.o(.text.PID_Calc) - PID_Init 0x08005311 Thumb Code 144 pid.o(.text.PID_Init) - PID_Reset 0x080053a1 Thumb Code 44 pid.o(.text.PID_Reset) - PendSV_Handler 0x080053d1 Thumb Code 100 port.o(.text.PendSV_Handler) - SDA_IN 0x08005435 Thumb Code 36 user_iic.o(.text.SDA_IN) - SDA_OUT 0x08005459 Thumb Code 36 user_iic.o(.text.SDA_OUT) - SPL06_CaculateHeight 0x08005809 Thumb Code 128 spl06_1.o(.text.SPL06_CaculateHeight) - SPL06_Init 0x08005889 Thumb Code 102 spl06_1.o(.text.SPL06_Init) - SPL06_Update 0x080058f1 Thumb Code 304 spl06_1.o(.text.SPL06_Update) - SVC_Handler 0x08005a21 Thumb Code 36 port.o(.text.SVC_Handler) - StartDefaultTask 0x08005a4d Thumb Code 12 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x08005a89 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x08005a9d Thumb Code 164 main.o(.text.SystemClock_Config) - SystemInit 0x08005b41 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM_Base_SetConfig 0x08005b55 Thumb Code 300 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x08005c81 Thumb Code 36 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x08005d09 Thumb Code 106 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Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream0_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream0_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + ETH_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + ETH_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) + EXTI0_IRQHandler 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_rserrno.o(.text) + __aeabi_errno_addr 0x08000501 Thumb Code 8 rt_errno_addr_intlibspace.o(.text) + __errno$intlibspace 0x08000501 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) + __rt_errno_addr$intlibspace 0x08000501 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) + __user_libspace 0x08000509 Thumb Code 8 libspace.o(.text) + __user_perproc_libspace 0x08000509 Thumb Code 0 libspace.o(.text) + __user_perthread_libspace 0x08000509 Thumb Code 0 libspace.o(.text) + __user_setup_stackheap 0x08000511 Thumb Code 74 sys_stackheap_outer.o(.text) + exit 0x0800055b Thumb Code 18 exit.o(.text) + _sys_exit 0x0800056d Thumb Code 8 sys_exit.o(.text) + __I$use$semihosting 0x08000579 Thumb Code 0 use_no_semi.o(.text) + __use_no_semihosting_swi 0x08000579 Thumb Code 2 use_no_semi.o(.text) + __semihosting_library_function 0x0800057b Thumb Code 0 indicate_semi.o(.text) + AHRS_GetEulr 0x0800057d Thumb Code 220 ahrs.o(.text.AHRS_GetEulr) + AHRS_Init 0x08000659 Thumb Code 388 ahrs.o(.text.AHRS_Init) + AHRS_Update 0x080007dd Thumb Code 1422 ahrs.o(.text.AHRS_Update) + AbsClip 0x0800105d Thumb Code 34 user_math.o(.text.AbsClip) + AltKalman_Init 0x08001081 Thumb Code 48 altitudekalman.o(.text.AltKalman_Init) + AltKalman_Update 0x080010b1 Thumb Code 202 altitudekalman.o(.text.AltKalman_Update) + BMI088_AcclStartDmaRecv 0x08001191 Thumb Code 24 bmi088.o(.text.BMI088_AcclStartDmaRecv) + BMI088_AcclWaitDmaCplt 0x080011a9 Thumb Code 16 bmi088.o(.text.BMI088_AcclWaitDmaCplt) + BMI088_GetUpdateFreq 0x080011b9 Thumb Code 12 bmi088.o(.text.BMI088_GetUpdateFreq) + BMI088_GyroStartDmaRecv 0x080011d9 Thumb Code 26 bmi088.o(.text.BMI088_GyroStartDmaRecv) + BMI088_GyroWaitDmaCplt 0x080011f5 Thumb Code 16 bmi088.o(.text.BMI088_GyroWaitDmaCplt) + BMI088_Init 0x08001205 Thumb Code 322 bmi088.o(.text.BMI088_Init) + BMI088_ParseAccl 0x08001349 Thumb Code 148 bmi088.o(.text.BMI088_ParseAccl) + BMI088_ParseGyro 0x080013dd Thumb Code 132 bmi088.o(.text.BMI088_ParseGyro) + BMI088_WaitNew 0x080014a1 Thumb Code 16 bmi088.o(.text.BMI088_WaitNew) + BSP_GPIO_DisableIRQ 0x0800159d Thumb Code 46 gpio_1.o(.text.BSP_GPIO_DisableIRQ) + BSP_GPIO_EnableIRQ 0x080015cd Thumb Code 46 gpio_1.o(.text.BSP_GPIO_EnableIRQ) + BSP_GPIO_ReadPin 0x080015fd Thumb Code 44 gpio_1.o(.text.BSP_GPIO_ReadPin) + BSP_GPIO_RegisterCallback 0x08001629 Thumb Code 74 gpio_1.o(.text.BSP_GPIO_RegisterCallback) + BSP_GPIO_WritePin 0x08001675 Thumb Code 48 gpio_1.o(.text.BSP_GPIO_WritePin) + BSP_PWM_SetComp 0x080016a5 Thumb Code 144 pwm.o(.text.BSP_PWM_SetComp) + BSP_PWM_Start 0x08001735 Thumb Code 44 pwm.o(.text.BSP_PWM_Start) + BSP_PWM_Stop 0x08001761 Thumb Code 44 pwm.o(.text.BSP_PWM_Stop) + BSP_SPI_GetHandle 0x0800178d Thumb Code 18 spi_1.o(.text.BSP_SPI_GetHandle) + BSP_SPI_Receive 0x080017a1 Thumb Code 52 spi_1.o(.text.BSP_SPI_Receive) + BSP_SPI_RegisterCallback 0x080017d5 Thumb Code 30 spi_1.o(.text.BSP_SPI_RegisterCallback) + BSP_SPI_Transmit 0x080017f5 Thumb Code 52 spi_1.o(.text.BSP_SPI_Transmit) + BSP_TIME_Delay 0x08001829 Thumb Code 88 time.o(.text.BSP_TIME_Delay_ms) + BSP_TIME_Delay_ms 0x08001829 Thumb Code 88 time.o(.text.BSP_TIME_Delay_ms) + BSP_TIME_Delay_us 0x08001881 Thumb Code 32 time.o(.text.BSP_TIME_Delay_us) + BSP_TIME_Get 0x080018a1 Thumb Code 80 time.o(.text.BSP_TIME_Get_us) + BSP_TIME_Get_us 0x080018a1 Thumb Code 80 time.o(.text.BSP_TIME_Get_us) + BSP_UART_GetHandle 0x080018f1 Thumb Code 32 uart.o(.text.BSP_UART_GetHandle) + BSP_UART_IRQHandler 0x08001911 Thumb Code 58 uart.o(.text.BSP_UART_IRQHandler) + BSP_UART_RegisterCallback 0x0800194d Thumb Code 50 uart.o(.text.BSP_UART_RegisterCallback) + BusFault_Handler 0x08001981 Thumb Code 2 stm32f4xx_it.o(.text.BusFault_Handler) + COMP_AT9S_CMD_ParseRc 0x08001985 Thumb Code 440 at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) + CircleError 0x08001b3d Thumb Code 60 user_math.o(.text.CircleError) + Config_GetRobotParam 0x08001b79 Thumb Code 10 config.o(.text.Config_GetRobotParam) + DEVICE_AT9S_Init 0x08001b85 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init) + DEVICE_AT9S_ParseRaw 0x08001bcd Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) + DEVICE_AT9S_StartDmaRecv 0x08001e5d Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) + DEVICE_AT9S_WaitDmaCplt 0x08001e79 Thumb Code 26 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) + DMA1_Stream1_IRQHandler 0x08001e95 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA1_Stream2_IRQHandler 0x08001ea5 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream2_IRQHandler) + DMA2_Stream1_IRQHandler 0x08001eb5 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) + DMA2_Stream2_IRQHandler 0x08001ec5 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x08001ed5 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DMA2_Stream6_IRQHandler 0x08001ee5 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DebugMon_Handler 0x08001fb1 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + EXTI3_IRQHandler 0x08001fb5 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) + EXTI4_IRQHandler 0x08001fc1 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x08001fcd Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x08001fd9 Thumb Code 6 main.o(.text.Error_Handler) + HAL_DMA_Abort 0x08001fe1 Thumb Code 128 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x08002061 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_IRQHandler 0x08002085 Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08002211 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x080022e1 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08002345 Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x0800236d Thumb Code 44 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08002399 Thumb Code 26 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x080023b5 Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x08002551 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x0800255d Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08002569 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_Init 0x08002575 Thumb Code 408 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_MspInit 0x0800270d Thumb Code 242 i2c.o(.text.HAL_I2C_MspInit) + HAL_IncTick 0x08002801 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x0800281d Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08002855 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x080028a5 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x080028ed Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x080028f5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x080028fd Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x0800291d Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08002925 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x08002a85 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x08002a91 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x08002ab5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x08002ad9 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x08002b41 Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x08002e89 Thumb Code 34 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x08002ead Thumb Code 180 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x08002f61 Thumb Code 302 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08003091 Thumb Code 370 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x08003205 Thumb Code 236 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x080032f1 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x08003315 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08003339 Thumb Code 394 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x080034c5 Thumb Code 504 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x080036bd Thumb Code 292 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x080037e1 Thumb Code 204 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x080038ad Thumb Code 32 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x080038cd Thumb Code 34 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x080038f1 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x08003915 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08003939 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_ConfigBreakDeadTime 0x08003941 Thumb Code 76 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime) + HAL_TIMEx_MasterConfigSynchronization 0x0800398d Thumb Code 184 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08003a45 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08003aa1 Thumb Code 54 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_MspPostInit 0x08003ad9 Thumb Code 322 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_PWM_ConfigChannel 0x08003c1d Thumb Code 152 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x08003cb5 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08003d11 Thumb Code 140 tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_Start 0x08003d9d Thumb Code 290 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PWM_Stop 0x08003ec1 Thumb Code 130 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Stop) + HAL_UARTEx_RxEventCallback 0x08003f45 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x08003f49 Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x08003f71 Thumb Code 602 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x080041cd Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x0800422d Thumb Code 428 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x080043d9 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_RxCpltCallback 0x08004405 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x0800442d Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HAL_UART_TxCpltCallback 0x08004455 Thumb Code 38 uart.o(.text.HAL_UART_TxCpltCallback) + HardFault_Handler 0x0800447d Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) + HeightEstimation_GetHeight 0x08004481 Thumb Code 172 heightestimation.o(.text.HeightEstimation_GetHeight) + HeightEstimation_Init 0x0800452d Thumb Code 244 heightestimation.o(.text.HeightEstimation_Init) + HeightEstimation_Updata 0x08004621 Thumb Code 192 heightestimation.o(.text.HeightEstimation_Updata) + IIC_Ack 0x080046e1 Thumb Code 78 user_iic.o(.text.IIC_Ack) + IIC_NAck 0x08004731 Thumb Code 78 user_iic.o(.text.IIC_NAck) + IIC_Read_Byte 0x08004781 Thumb Code 100 user_iic.o(.text.IIC_Read_Byte) + IIC_Send_Byte 0x080047e5 Thumb Code 90 user_iic.o(.text.IIC_Send_Byte) + IIC_Start 0x08004841 Thumb Code 68 user_iic.o(.text.IIC_Start) + IIC_Stop 0x08004885 Thumb Code 58 user_iic.o(.text.IIC_Stop) + IIC_Wait_Ack 0x080048c1 Thumb Code 90 user_iic.o(.text.IIC_Wait_Ack) + InvSqrt 0x0800491d Thumb Code 66 user_math.o(.text.InvSqrt) + Kalman_Init 0x08004961 Thumb Code 46 xm_quadctrl.o(.text.Kalman_Init) + Kalman_Update 0x08004991 Thumb Code 178 xm_quadctrl.o(.text.Kalman_Update) + LowPassFilter2p_Apply 0x08004a45 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x08004ac1 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x08004b65 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) + MX_DMA_Init 0x08004bc1 Thumb Code 154 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x08004c5d Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x08004c99 Thumb Code 416 gpio.o(.text.MX_GPIO_Init) + MX_I2C3_Init 0x08004e39 Thumb Code 62 i2c.o(.text.MX_I2C3_Init) + MX_SPI1_Init 0x08004e79 Thumb Code 78 spi.o(.text.MX_SPI1_Init) + MX_TIM10_Init 0x08004ec9 Thumb Code 136 tim.o(.text.MX_TIM10_Init) + MX_TIM1_Init 0x08004f51 Thumb Code 282 tim.o(.text.MX_TIM1_Init) + MX_TIM4_Init 0x0800506d Thumb Code 146 tim.o(.text.MX_TIM4_Init) + MX_TIM5_Init 0x08005101 Thumb Code 194 tim.o(.text.MX_TIM5_Init) + MX_USART3_UART_Init 0x080051c5 Thumb Code 60 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x08005201 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x08005239 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800523d Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800526d Thumb Code 368 pid.o(.text.PID_Calc) + PID_Init 0x080053dd Thumb Code 144 pid.o(.text.PID_Init) + PID_Reset 0x0800546d Thumb Code 44 pid.o(.text.PID_Reset) + PendSV_Handler 0x080054a1 Thumb Code 100 port.o(.text.PendSV_Handler) + Quad_AttCtrl_agl 0x08005505 Thumb Code 80 xm_quadctrl.o(.text.Quad_AttCtrl_agl) + Quad_AttCtrl_omg 0x08005555 Thumb Code 116 xm_quadctrl.o(.text.Quad_AttCtrl_omg) + Quad_Ctrl 0x080055c9 Thumb Code 240 xm_quadctrl.o(.text.Quad_Ctrl) + Quad_Init 0x080056b9 Thumb Code 484 xm_quadctrl.o(.text.Quad_Init) + Quad_Mixer 0x08005929 Thumb Code 240 xm_quadctrl.o(.text.Quad_Mixer) + Quad_OutPut 0x08005a19 Thumb Code 62 xm_quadctrl.o(.text.Quad_OutPut) + Quad_PosCtrl 0x08005a59 Thumb Code 76 xm_quadctrl.o(.text.Quad_PosCtrl) + Quad_SetTargetStates 0x08005aa5 Thumb Code 122 xm_quadctrl.o(.text.Quad_SetTargetStates) + Quad_UpdateStatus 0x08005b21 Thumb Code 96 xm_quadctrl.o(.text.Quad_UpdateStatus) + SDA_IN 0x08005b81 Thumb Code 36 user_iic.o(.text.SDA_IN) + SDA_OUT 0x08005ba5 Thumb Code 36 user_iic.o(.text.SDA_OUT) + SPL06_CaculateHeight 0x08005f59 Thumb Code 128 spl06_1.o(.text.SPL06_CaculateHeight) + SPL06_Init 0x08005fd9 Thumb Code 102 spl06_1.o(.text.SPL06_Init) + SPL06_Update 0x08006041 Thumb Code 304 spl06_1.o(.text.SPL06_Update) + SVC_Handler 0x08006171 Thumb Code 36 port.o(.text.SVC_Handler) + StartDefaultTask 0x0800619d Thumb Code 12 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x080061d9 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x080061ed Thumb Code 164 main.o(.text.SystemClock_Config) + SystemInit 0x08006291 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM_Base_SetConfig 0x080062a5 Thumb Code 300 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x080063d1 Thumb Code 36 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x08006459 Thumb Code 106 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_Init 0x0800657d Thumb Code 208 init.o(.text.Task_Init) + Task_atti_esti 0x08006651 Thumb Code 368 atti_esti.o(.text.Task_atti_esti) + Task_blink 0x080067c1 Thumb Code 136 blink.o(.text.Task_blink) + Task_cmd 0x08006849 Thumb Code 176 cmd_1.o(.text.Task_cmd) + Task_height_cal 0x080068f9 Thumb Code 156 height_cal.o(.text.Task_height_cal) + Task_quad_ctrl 0x08006999 Thumb Code 196 quad_ctrl.o(.text.Task_quad_ctrl) + UART_Start_Receive_DMA 0x08006da5 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + USART6_IRQHandler 0x08006ea5 Thumb Code 24 stm32f4xx_it.o(.text.USART6_IRQHandler) + UsageFault_Handler 0x08006ebd Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + eTaskGetState 0x08006fb5 Thumb Code 156 tasks.o(.text.eTaskGetState) + main 0x08007051 Thumb Code 62 main.o(.text.main) + osDelay 0x08007091 Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x080070b1 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x080070e5 Thumb Code 38 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x0800710d Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x08007121 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x08007129 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x08007151 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0800717d Thumb Code 52 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x080071b1 Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x080071f5 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x0800727d Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x0800731d Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) + osThreadFlagsSet 0x080073ad Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x0800742d Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x080074e9 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x080074f1 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x080075a5 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x08007f45 Thumb Code 330 heap_4.o(.text.pvPortMalloc) + pxPortInitialiseStack 0x08008091 Thumb Code 40 port.o(.text.pxPortInitialiseStack) + spl06_config_pressure 0x080080b9 Thumb Code 60 spl06_1.o(.text.spl06_config_pressure) + spl06_config_temperature 0x08008115 Thumb Code 64 spl06_1.o(.text.spl06_config_temperature) + spl06_get_calib_param 0x08008175 Thumb Code 262 spl06_1.o(.text.spl06_get_calib_param) + spl06_get_measure_status 0x0800827d Thumb Code 10 spl06_1.o(.text.spl06_get_measure_status) + spl06_get_pressure_adc 0x08008289 Thumb Code 42 spl06_1.o(.text.spl06_get_pressure_adc) + spl06_get_temperature_adc 0x080082b5 Thumb Code 42 spl06_1.o(.text.spl06_get_temperature_adc) + spl06_read_reg 0x080082e1 Thumb Code 58 spl06_1.o(.text.spl06_read_reg) + spl06_start 0x0800831d Thumb Code 12 spl06_1.o(.text.spl06_start) + spl06_write_reg 0x08008329 Thumb Code 66 spl06_1.o(.text.spl06_write_reg) + uxListRemove 0x0800836d Thumb Code 36 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x08008391 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x080083ad Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x080083c9 Thumb Code 2 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x080083cd Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x080083e5 Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x080083ed Thumb Code 58 list.o(.text.vListInsert) + vListInsertEnd 0x08008429 Thumb Code 28 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08008459 Thumb Code 70 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x080084a1 Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x080084d1 Thumb Code 138 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x0800855d Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08008591 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x080085f5 Thumb Code 40 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x0800861d Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08008661 Thumb Code 84 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x080086b5 Thumb Code 168 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x0800875d Thumb Code 194 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08008821 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x0800883d Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x0800884d Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08008881 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskStartScheduler 0x080088c1 Thumb Code 156 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08008965 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08008975 Thumb Code 202 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08008a41 Thumb Code 274 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x08008b55 Thumb Code 46 port.o(.text.xPortSysTickHandler) + xQueueGenericCreate 0x08008b85 Thumb Code 70 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08008bcd Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x08008c65 Thumb Code 126 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x08008ce5 Thumb Code 418 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x08008e89 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) + xQueueReceive 0x08008f59 Thumb Code 388 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x080090dd Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) + xTaskCheckForTimeOut 0x08009189 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x08009211 Thumb Code 102 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08009279 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x080092f1 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x080093ed Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08009519 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08009525 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x0800954d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08009559 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x0800956d Thumb Code 338 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x080096c1 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08009751 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) + xTaskRemoveFromEventList 0x080097e5 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x08009875 Thumb Code 276 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x08009989 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x080099fd Thumb Code 104 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x08009a65 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x08009a95 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x08009abd Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x08009be9 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x08009ec1 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x0800a0c1 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_pow 0x0800a371 Thumb Code 3088 pow.o(i.__hardfp_pow) + __hardfp_sinf 0x0800afd1 Thumb Code 344 sinf.o(i.__hardfp_sinf) + __hardfp_tanf 0x0800b161 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x0800b2dd Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_divzero 0x0800b3d9 Thumb Code 28 dunder.o(i.__mathlib_dbl_divzero) + __mathlib_dbl_infnan 0x0800b409 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x0800b41d Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_invalid 0x0800b431 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) + __mathlib_dbl_overflow 0x0800b451 Thumb Code 24 dunder.o(i.__mathlib_dbl_overflow) + __mathlib_dbl_underflow 0x0800b471 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x0800b491 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x0800b497 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x0800b49d Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x0800b4ad Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x0800b4bd Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x0800b611 Thumb Code 16 atan.o(i.atan) + fabs 0x0800b621 Thumb Code 24 fabs.o(i.fabs) + sqrt 0x0800b639 Thumb Code 110 sqrt.o(i.sqrt) + sqrtf 0x0800b6a7 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x0800b6e5 Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x0800b6e5 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x0800b6eb Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x0800b6eb Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x0800b6f1 Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x0800b6f7 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x0800b6fd Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x0800b6fd Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x0800b761 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x0800b761 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcheck_NaN1 0x0800b8b1 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) + __fpl_dcmp_Inf 0x0800b8c1 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x0800b8d9 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x0800b8d9 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x0800bb8d Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x0800bb8d Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2iz 0x0800bc05 Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x0800bc05 Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x0800bc65 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x0800bc65 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x0800bcbf Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x0800bcbf Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_ui2d 0x0800bced Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x0800bced Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_cdcmple 0x0800bd15 Thumb Code 0 dleqf.o(x$fpl$dleqf) + _dcmple 0x0800bd15 Thumb Code 120 dleqf.o(x$fpl$dleqf) + __fpl_dcmple_InfNaN 0x0800bd77 Thumb Code 0 dleqf.o(x$fpl$dleqf) + __aeabi_dmul 0x0800bd8d Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x0800bd8d Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x0800bee1 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x0800bf7d Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_cdrcmple 0x0800bf89 Thumb Code 0 drleqf.o(x$fpl$drleqf) + _drcmple 0x0800bf89 Thumb Code 108 drleqf.o(x$fpl$drleqf) + __aeabi_drsub 0x0800bff5 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x0800bff5 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + _dsqrt 0x0800c00d Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) + __aeabi_dsub 0x0800c1a5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x0800c1a5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x0800c381 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x0800c381 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x0800c3d7 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x0800c3d7 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x0800c3dd Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x0800c3dd Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x0800c437 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x0800c4c3 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x0800c4db Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x0800c4db Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x0800c4dd Thumb Code 10 fretinf.o(x$fpl$fretinf) + __aeabi_f2lz 0x0800c4e9 Thumb Code 0 ffixll.o(x$fpl$llsfromf) + _ll_sfrom_f 0x0800c4e9 Thumb Code 134 ffixll.o(x$fpl$llsfromf) + __aeabi_f2ulz 0x0800c571 Thumb Code 0 ffixull.o(x$fpl$llufromf) + _ll_ufrom_f 0x0800c571 Thumb Code 92 ffixull.o(x$fpl$llufromf) + __fpl_return_NaN 0x0800c5cd Thumb Code 100 retnan.o(x$fpl$retnan) + __ARM_scalbn 0x0800c631 Thumb Code 92 scalbn.o(x$fpl$scalbn) + __fpl_cmpreturn 0x0800c68d Thumb Code 48 trapv.o(x$fpl$trapveneer) + __I$use$fp 0x0800c6bc Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x0800c7e0 Data 8 qnan.o(.constdata) + AHBPrescTable 0x0800c808 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x0800c818 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_atti_esti 0x0800c898 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_blink 0x0800c8bc Data 36 user_task.o(.rodata.attr_blink) + attr_cmd 0x0800c8e0 Data 36 user_task.o(.rodata.attr_cmd) + attr_height_cal 0x0800c904 Data 36 user_task.o(.rodata.attr_height_cal) + attr_init 0x0800c928 Data 36 user_task.o(.rodata.attr_init) + attr_quad_ctrl 0x0800c94c Data 36 user_task.o(.rodata.attr_quad_ctrl) + defaultTask_attributes 0x0800c970 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x0800c9f4 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x0800ca14 Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) cali_bmi088 0x20000008 Data 12 atti_esti.o(.data.cali_bmi088) - uwTickFreq 0x20000014 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) - uwTickPrio 0x20000018 Data 4 stm32f4xx_hal.o(.data.uwTickPrio) - __libspace_start 0x20000020 Data 96 libspace.o(.bss) - __temporary_stack_top$libspace 0x20000080 Data 0 libspace.o(.bss) - HeightEstimation_dt 0x200000c0 Data 4 heightestimation.o(.bss.HeightEstimation_dt) - HeightEstimation_last 0x200000c8 Data 8 heightestimation.o(.bss.HeightEstimation_last) - HeightEstimation_now 0x200000d0 Data 8 heightestimation.o(.bss.HeightEstimation_now) - accl_z_WithoutGravity 0x20000144 Data 4 heightestimation.o(.bss.accl_z_WithoutGravity) - accl_z_buffer 0x20000148 Data 4 height_cal.o(.bss.accl_z_buffer) - accl_z_filter 0x2000014c Data 32 heightestimation.o(.bss.accl_z_filter) - accl_z_filtered 0x2000016c Data 4 heightestimation.o(.bss.accl_z_filtered) - accl_z_for_heightestimation 0x20000170 Data 4 atti_esti.o(.bss.accl_z_for_heightestimation) - alt_kf 0x20000174 Data 36 heightestimation.o(.bss.alt_kf) - at9s 0x20000198 Data 44 rc.o(.bss.at9s) - bmi088 0x200001c8 Data 48 atti_esti.o(.bss.bmi088) - cmd_buffer 0x2000020d Data 25 rc.o(.bss.cmd_buffer) - defaultTaskHandle 0x20000228 Data 4 freertos.o(.bss.defaultTaskHandle) - estimated_height 0x2000022c Data 4 height_cal.o(.bss.estimated_height) - estimated_velocity 0x20000230 Data 4 height_cal.o(.bss.estimated_velocity) - eulr_to_send 0x20000234 Data 12 atti_esti.o(.bss.eulr_to_send) - gimbal_ahrs 0x20000240 Data 20 atti_esti.o(.bss.gimbal_ahrs) - gravity 0x20000254 Data 4 heightestimation.o(.bss.gravity) - hdma_i2c3_rx 0x20000258 Data 96 i2c.o(.bss.hdma_i2c3_rx) - hdma_spi1_rx 0x200002b8 Data 96 spi.o(.bss.hdma_spi1_rx) - hdma_spi1_tx 0x20000318 Data 96 spi.o(.bss.hdma_spi1_tx) - hdma_usart3_rx 0x20000378 Data 96 usart.o(.bss.hdma_usart3_rx) - hdma_usart6_rx 0x200003d8 Data 96 usart.o(.bss.hdma_usart6_rx) - hdma_usart6_tx 0x20000438 Data 96 usart.o(.bss.hdma_usart6_tx) - height 0x20000498 Data 4 heightestimation.o(.bss.height) - hi2c3 0x2000049c Data 84 i2c.o(.bss.hi2c3) - hspi1 0x200004f0 Data 88 spi.o(.bss.hspi1) - htim1 0x20000548 Data 72 tim.o(.bss.htim1) - htim10 0x20000590 Data 72 tim.o(.bss.htim10) - htim4 0x200005d8 Data 72 tim.o(.bss.htim4) - htim5 0x20000620 Data 72 tim.o(.bss.htim5) - huart3 0x20000668 Data 72 usart.o(.bss.huart3) - huart6 0x200006b0 Data 72 usart.o(.bss.huart6) - imu_temp_ctrl_pid 0x200006f8 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) - initial_height 0x20000738 Data 4 heightestimation.o(.bss.initial_height) - initializeCounter 0x2000073c Data 2 heightestimation.o(.bss.initializeCounter) - magn 0x20000740 Data 12 atti_esti.o(.bss.magn) - pressure 0x2000074c Data 4 heightestimation.o(.bss.pressure) - pxCurrentTCB 0x20000844 Data 4 tasks.o(.bss.pxCurrentTCB) - r 0x20000cbc Data 24 at9s_pro.o(.bss.r) - rc_cmd 0x20000cd4 Data 40 rc.o(.bss.rc_cmd) - relative_height 0x20000cfc Data 4 heightestimation.o(.bss.relative_height) - relative_height_filter 0x20000d00 Data 32 heightestimation.o(.bss.relative_height_filter) - relative_height_filtered 0x20000d20 Data 4 heightestimation.o(.bss.relative_height_filtered) - spl06 0x20000d24 Data 20 spl06_1.o(.bss.spl06) - spl06_calib_param 0x20000d38 Data 24 spl06_1.o(.bss.spl06_calib_param) - task_runtime 0x20000d50 Data 100 user_task.o(.bss.task_runtime) - temperature 0x20000db4 Data 4 heightestimation.o(.bss.temperature) - uwTick 0x20006f70 Data 4 stm32f4xx_hal.o(.bss.uwTick) - xQueueRegistry 0x200076c8 Data 64 queue.o(.bss.xQueueRegistry) + robot_config 0x20000014 Data 288 config.o(.data.robot_config) + uwTickFreq 0x20000134 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) + uwTickPrio 0x20000138 Data 4 stm32f4xx_hal.o(.data.uwTickPrio) + __libspace_start 0x20000140 Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x200001a0 Data 0 libspace.o(.bss) + HeightEstimation_dt 0x200001e0 Data 4 heightestimation.o(.bss.HeightEstimation_dt) + HeightEstimation_last 0x200001e8 Data 8 heightestimation.o(.bss.HeightEstimation_last) + HeightEstimation_now 0x200001f0 Data 8 heightestimation.o(.bss.HeightEstimation_now) + accl_z_WithoutGravity 0x20000268 Data 4 heightestimation.o(.bss.accl_z_WithoutGravity) + accl_z_buffer 0x2000026c Data 4 height_cal.o(.bss.accl_z_buffer) + accl_z_filter 0x20000270 Data 32 heightestimation.o(.bss.accl_z_filter) + accl_z_filtered 0x20000290 Data 4 heightestimation.o(.bss.accl_z_filtered) + accl_z_for_heightestimation 0x20000294 Data 4 atti_esti.o(.bss.accl_z_for_heightestimation) + alt_kf 0x20000298 Data 36 heightestimation.o(.bss.alt_kf) + at9s 0x200002bc Data 44 cmd_1.o(.bss.at9s) + bmi088 0x200002e8 Data 48 atti_esti.o(.bss.bmi088) + cmd_buffer 0x2000032d Data 25 cmd_1.o(.bss.cmd_buffer) + cmd_for_quad 0x20000348 Data 20 cmd_1.o(.bss.cmd_for_quad) + defaultTaskHandle 0x2000035c Data 4 freertos.o(.bss.defaultTaskHandle) + estimated_height 0x20000360 Data 4 height_cal.o(.bss.estimated_height) + estimated_velocity 0x20000364 Data 4 height_cal.o(.bss.estimated_velocity) + eulr_for_quad 0x20000368 Data 12 atti_esti.o(.bss.eulr_for_quad) + eulr_to_send 0x20000374 Data 12 atti_esti.o(.bss.eulr_to_send) + gimbal_ahrs 0x20000380 Data 20 atti_esti.o(.bss.gimbal_ahrs) + gravity 0x20000394 Data 4 heightestimation.o(.bss.gravity) + hdma_i2c3_rx 0x20000398 Data 96 i2c.o(.bss.hdma_i2c3_rx) + hdma_spi1_rx 0x200003f8 Data 96 spi.o(.bss.hdma_spi1_rx) + hdma_spi1_tx 0x20000458 Data 96 spi.o(.bss.hdma_spi1_tx) + hdma_usart3_rx 0x200004b8 Data 96 usart.o(.bss.hdma_usart3_rx) + hdma_usart6_rx 0x20000518 Data 96 usart.o(.bss.hdma_usart6_rx) + hdma_usart6_tx 0x20000578 Data 96 usart.o(.bss.hdma_usart6_tx) + height 0x200005d8 Data 4 heightestimation.o(.bss.height) + hi2c3 0x200005dc Data 84 i2c.o(.bss.hi2c3) + hspi1 0x20000630 Data 88 spi.o(.bss.hspi1) + htim1 0x20000688 Data 72 tim.o(.bss.htim1) + htim10 0x200006d0 Data 72 tim.o(.bss.htim10) + htim4 0x20000718 Data 72 tim.o(.bss.htim4) + htim5 0x20000760 Data 72 tim.o(.bss.htim5) + huart3 0x200007a8 Data 72 usart.o(.bss.huart3) + huart6 0x200007f0 Data 72 usart.o(.bss.huart6) + imu_temp_ctrl_pid 0x20000838 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) + initial_height 0x20000878 Data 4 heightestimation.o(.bss.initial_height) + initializeCounter 0x2000087c Data 2 heightestimation.o(.bss.initializeCounter) + magn 0x20000880 Data 12 atti_esti.o(.bss.magn) + pressure 0x2000088c Data 4 heightestimation.o(.bss.pressure) + pxCurrentTCB 0x20000984 Data 4 tasks.o(.bss.pxCurrentTCB) + q 0x20000e00 Data 1064 quad_ctrl.o(.bss.q) + quad_cmd 0x20001228 Data 20 quad_ctrl.o(.bss.quad_cmd) + r 0x2000123c Data 24 at9s_pro.o(.bss.r) + rc_cmd 0x20001254 Data 20 cmd_1.o(.bss.rc_cmd) + relative_height 0x20001268 Data 4 heightestimation.o(.bss.relative_height) + relative_height_filter 0x2000126c Data 32 heightestimation.o(.bss.relative_height_filter) + relative_height_filtered 0x2000128c Data 4 heightestimation.o(.bss.relative_height_filtered) + spl06 0x20001290 Data 20 spl06_1.o(.bss.spl06) + spl06_calib_param 0x200012a4 Data 24 spl06_1.o(.bss.spl06_calib_param) + task_runtime 0x200012bc Data 116 user_task.o(.bss.task_runtime) + temperature 0x20001330 Data 4 heightestimation.o(.bss.temperature) + uwTick 0x200074ec Data 4 stm32f4xx_hal.o(.bss.uwTick) + xQueueRegistry 0x20007c44 Data 64 queue.o(.bss.xQueueRegistry) @@ -6967,768 +7048,799 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000c0b8, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000cb58, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000ca90]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000c094, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000ca14, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o - 0x08000188 0x08000188 0x00000008 Code RO 2824 * !!!main c_w.l(__main.o) - 0x08000190 0x08000190 0x00000034 Code RO 3239 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000001a Code RO 3241 !!handler_copy c_w.l(__scatter_copy.o) - 0x080001de 0x080001de 0x00000002 PAD - 0x080001e0 0x080001e0 0x0000001c Code RO 3243 !!handler_zi c_w.l(__scatter_zi.o) - 0x080001fc 0x080001fc 0x00000002 Code RO 3100 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x080001fe 0x080001fe 0x00000004 Code RO 3101 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3104 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3107 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3109 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3111 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3114 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3116 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3118 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3120 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3122 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3124 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3126 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3128 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3130 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3132 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3134 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3138 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3140 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3142 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3144 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000002 Code RO 3145 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) - 0x08000204 0x08000204 0x00000002 Code RO 3204 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) - 0x08000206 0x08000206 0x00000000 Code RO 3222 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3224 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3227 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3230 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3232 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3235 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000002 Code RO 3236 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000208 0x08000208 0x00000000 Code RO 2907 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000208 0x08000208 0x00000000 Code RO 3008 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000208 0x08000208 0x00000006 Code RO 3020 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800020e 0x0800020e 0x00000000 Code RO 3010 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800020e 0x0800020e 0x00000004 Code RO 3011 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000000 Code RO 3013 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000008 Code RO 3014 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800021a 0x0800021a 0x00000002 Code RO 3148 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800021c 0x0800021c 0x00000000 Code RO 3169 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800021c 0x0800021c 0x00000004 Code RO 3170 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000220 0x08000220 0x00000006 Code RO 3171 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) - 0x08000226 0x08000226 0x00000002 PAD - 0x08000228 0x08000228 0x00000040 Code RO 4 .text startup_stm32f407xx.o - 0x08000268 0x08000268 0x000000f0 Code RO 2771 .text c_w.l(lludivv7m.o) - 0x08000358 0x08000358 0x0000008a Code RO 2810 .text c_w.l(rt_memcpy_v6.o) - 0x080003e2 0x080003e2 0x00000064 Code RO 2812 .text c_w.l(rt_memcpy_w.o) - 0x08000446 0x08000446 0x00000010 Code RO 2816 .text c_w.l(aeabi_memset4.o) - 0x08000456 0x08000456 0x0000004e Code RO 2820 .text c_w.l(rt_memclr_w.o) - 0x080004a4 0x080004a4 0x00000006 Code RO 2822 .text c_w.l(heapauxi.o) - 0x080004aa 0x080004aa 0x00000016 Code RO 2912 .text c_w.l(_rserrno.o) - 0x080004c0 0x080004c0 0x00000008 Code RO 3032 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x080004c8 0x080004c8 0x00000008 Code RO 3080 .text c_w.l(libspace.o) - 0x080004d0 0x080004d0 0x0000004a Code RO 3083 .text c_w.l(sys_stackheap_outer.o) - 0x0800051a 0x0800051a 0x00000012 Code RO 3087 .text c_w.l(exit.o) - 0x0800052c 0x0800052c 0x0000000c Code RO 3164 .text c_w.l(sys_exit.o) - 0x08000538 0x08000538 0x00000002 Code RO 3191 .text c_w.l(use_no_semi.o) - 0x0800053a 0x0800053a 0x00000000 Code RO 3193 .text c_w.l(indicate_semi.o) - 0x0800053a 0x0800053a 0x00000002 PAD - 0x0800053c 0x0800053c 0x000000dc Code RO 2511 .text.AHRS_GetEulr ahrs.o - 0x08000618 0x08000618 0x00000184 Code RO 2505 .text.AHRS_Init ahrs.o - 0x0800079c 0x0800079c 0x0000058e Code RO 2507 .text.AHRS_Update ahrs.o - 0x08000d2a 0x08000d2a 0x00000002 PAD - 0x08000d2c 0x08000d2c 0x000002f0 Code RO 2509 .text.AHRS_UpdateIMU ahrs.o - 0x0800101c 0x0800101c 0x00000022 Code RO 2570 .text.AbsClip user_math.o - 0x0800103e 0x0800103e 0x00000002 PAD - 0x08001040 0x08001040 0x00000030 Code RO 2628 .text.AltKalman_Init altitudekalman.o - 0x08001070 0x08001070 0x000000ca Code RO 2630 .text.AltKalman_Update altitudekalman.o - 0x0800113a 0x0800113a 0x00000002 PAD - 0x0800113c 0x0800113c 0x00000014 Code RO 2377 .text.BMI088_AcclIntCallback bmi088.o - 0x08001150 0x08001150 0x00000018 Code RO 2385 .text.BMI088_AcclStartDmaRecv bmi088.o - 0x08001168 0x08001168 0x00000010 Code RO 2389 .text.BMI088_AcclWaitDmaCplt bmi088.o - 0x08001178 0x08001178 0x0000000c Code RO 2399 .text.BMI088_GetUpdateFreq bmi088.o - 0x08001184 0x08001184 0x00000014 Code RO 2379 .text.BMI088_GyroIntCallback bmi088.o - 0x08001198 0x08001198 0x0000001a Code RO 2391 .text.BMI088_GyroStartDmaRecv bmi088.o - 0x080011b2 0x080011b2 0x00000002 PAD - 0x080011b4 0x080011b4 0x00000010 Code RO 2393 .text.BMI088_GyroWaitDmaCplt bmi088.o - 0x080011c4 0x080011c4 0x00000142 Code RO 2369 .text.BMI088_Init bmi088.o - 0x08001306 0x08001306 0x00000002 PAD - 0x08001308 0x08001308 0x00000094 Code RO 2395 .text.BMI088_ParseAccl bmi088.o - 0x0800139c 0x0800139c 0x00000084 Code RO 2397 .text.BMI088_ParseGyro bmi088.o - 0x08001420 0x08001420 0x00000040 Code RO 2375 .text.BMI088_RxCpltCallback bmi088.o - 0x08001460 0x08001460 0x00000010 Code RO 2383 .text.BMI088_WaitNew bmi088.o - 0x08001470 0x08001470 0x00000042 Code RO 2387 .text.BMI_Read bmi088.o - 0x080014b2 0x080014b2 0x00000002 PAD - 0x080014b4 0x080014b4 0x0000005e Code RO 2373 .text.BMI_ReadSingle bmi088.o - 0x08001512 0x08001512 0x00000002 PAD - 0x08001514 0x08001514 0x00000048 Code RO 2371 .text.BMI_WriteSingle bmi088.o - 0x0800155c 0x0800155c 0x0000002e Code RO 2101 .text.BSP_GPIO_DisableIRQ gpio_1.o - 0x0800158a 0x0800158a 0x00000002 PAD - 0x0800158c 0x0800158c 0x0000002e Code RO 2099 .text.BSP_GPIO_EnableIRQ gpio_1.o - 0x080015ba 0x080015ba 0x00000002 PAD - 0x080015bc 0x080015bc 0x0000002c Code RO 2107 .text.BSP_GPIO_ReadPin gpio_1.o - 0x080015e8 0x080015e8 0x0000004a Code RO 2097 .text.BSP_GPIO_RegisterCallback gpio_1.o - 0x08001632 0x08001632 0x00000002 PAD - 0x08001634 0x08001634 0x00000030 Code RO 2103 .text.BSP_GPIO_WritePin gpio_1.o - 0x08001664 0x08001664 0x00000090 Code RO 2178 .text.BSP_PWM_SetComp pwm.o - 0x080016f4 0x080016f4 0x0000002c Code RO 2176 .text.BSP_PWM_Start pwm.o - 0x08001720 0x08001720 0x0000002c Code RO 2182 .text.BSP_PWM_Stop pwm.o - 0x0800174c 0x0800174c 0x00000012 Code RO 2221 .text.BSP_SPI_GetHandle spi_1.o - 0x0800175e 0x0800175e 0x00000002 PAD - 0x08001760 0x08001760 0x00000034 Code RO 2227 .text.BSP_SPI_Receive spi_1.o - 0x08001794 0x08001794 0x0000001e Code RO 2223 .text.BSP_SPI_RegisterCallback spi_1.o - 0x080017b2 0x080017b2 0x00000002 PAD - 0x080017b4 0x080017b4 0x00000034 Code RO 2225 .text.BSP_SPI_Transmit spi_1.o - 0x080017e8 0x080017e8 0x00000058 Code RO 2252 .text.BSP_TIME_Delay_ms time.o - 0x08001840 0x08001840 0x00000020 Code RO 2254 .text.BSP_TIME_Delay_us time.o - 0x08001860 0x08001860 0x00000050 Code RO 2250 .text.BSP_TIME_Get_us time.o - 0x080018b0 0x080018b0 0x00000020 Code RO 2284 .text.BSP_UART_GetHandle uart.o - 0x080018d0 0x080018d0 0x0000003a Code RO 2282 .text.BSP_UART_IRQHandler uart.o - 0x0800190a 0x0800190a 0x00000002 PAD - 0x0800190c 0x0800190c 0x00000032 Code RO 2286 .text.BSP_UART_RegisterCallback uart.o - 0x0800193e 0x0800193e 0x00000002 PAD - 0x08001940 0x08001940 0x00000002 Code RO 149 .text.BusFault_Handler stm32f4xx_it.o - 0x08001942 0x08001942 0x00000002 PAD - 0x08001944 0x08001944 0x0000021c Code RO 2649 .text.COMP_AT9S_CMD_ParseRc at9s_pro_cmd.o - 0x08001b60 0x08001b60 0x0000003c Code RO 2580 .text.CircleError user_math.o - 0x08001b9c 0x08001b9c 0x00000046 Code RO 2482 .text.DEVICE_AT9S_Init at9s_pro.o - 0x08001be2 0x08001be2 0x00000002 PAD - 0x08001be4 0x08001be4 0x00000278 Code RO 2492 .text.DEVICE_AT9S_ParseRaw at9s_pro.o - 0x08001e5c 0x08001e5c 0x00000016 Code RO 2484 .text.DEVICE_AT9S_RxCpltCallback at9s_pro.o - 0x08001e72 0x08001e72 0x00000002 PAD - 0x08001e74 0x08001e74 0x0000001c Code RO 2488 .text.DEVICE_AT9S_StartDmaRecv at9s_pro.o - 0x08001e90 0x08001e90 0x0000001a Code RO 2490 .text.DEVICE_AT9S_WaitDmaCplt at9s_pro.o - 0x08001eaa 0x08001eaa 0x00000002 PAD - 0x08001eac 0x08001eac 0x00000010 Code RO 161 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x08001ebc 0x08001ebc 0x00000010 Code RO 163 .text.DMA1_Stream2_IRQHandler stm32f4xx_it.o - 0x08001ecc 0x08001ecc 0x00000010 Code RO 167 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o - 0x08001edc 0x08001edc 0x00000010 Code RO 169 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08001eec 0x08001eec 0x00000010 Code RO 171 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08001efc 0x08001efc 0x00000010 Code RO 173 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o - 0x08001f0c 0x08001f0c 0x0000003c Code RO 377 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x08001f48 0x08001f48 0x00000050 Code RO 375 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x08001f98 0x08001f98 0x00000030 Code RO 383 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x08001fc8 0x08001fc8 0x00000002 Code RO 153 .text.DebugMon_Handler stm32f4xx_it.o + 0x08000188 0x08000188 0x00000008 Code RO 2836 * !!!main c_w.l(__main.o) + 0x08000190 0x08000190 0x00000034 Code RO 3257 !!!scatter c_w.l(__scatter.o) + 0x080001c4 0x080001c4 0x0000005a Code RO 3255 !!dczerorl2 c_w.l(__dczerorl2.o) + 0x0800021e 0x0800021e 0x00000002 PAD + 0x08000220 0x08000220 0x0000001c Code RO 3259 !!handler_zi c_w.l(__scatter_zi.o) + 0x0800023c 0x0800023c 0x00000002 Code RO 3116 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x0800023e 0x0800023e 0x00000004 Code RO 3117 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3120 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3123 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3125 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3127 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3130 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3132 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3134 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3136 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3138 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3140 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3142 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3144 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3146 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3148 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3150 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3154 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3156 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3158 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3160 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000002 Code RO 3161 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000244 0x08000244 0x00000002 Code RO 3220 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000246 0x08000246 0x00000000 Code RO 3238 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3240 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) 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0x080007dc 0x080007dc 0x0000058e Code RO 2507 .text.AHRS_Update ahrs.o + 0x08000d6a 0x08000d6a 0x00000002 PAD + 0x08000d6c 0x08000d6c 0x000002f0 Code RO 2509 .text.AHRS_UpdateIMU ahrs.o + 0x0800105c 0x0800105c 0x00000022 Code RO 2570 .text.AbsClip user_math.o + 0x0800107e 0x0800107e 0x00000002 PAD + 0x08001080 0x08001080 0x00000030 Code RO 2596 .text.AltKalman_Init altitudekalman.o + 0x080010b0 0x080010b0 0x000000ca Code RO 2598 .text.AltKalman_Update altitudekalman.o + 0x0800117a 0x0800117a 0x00000002 PAD + 0x0800117c 0x0800117c 0x00000014 Code RO 2377 .text.BMI088_AcclIntCallback bmi088.o + 0x08001190 0x08001190 0x00000018 Code RO 2385 .text.BMI088_AcclStartDmaRecv bmi088.o + 0x080011a8 0x080011a8 0x00000010 Code RO 2389 .text.BMI088_AcclWaitDmaCplt bmi088.o + 0x080011b8 0x080011b8 0x0000000c Code RO 2399 .text.BMI088_GetUpdateFreq bmi088.o + 0x080011c4 0x080011c4 0x00000014 Code RO 2379 .text.BMI088_GyroIntCallback bmi088.o + 0x080011d8 0x080011d8 0x0000001a Code RO 2391 .text.BMI088_GyroStartDmaRecv bmi088.o + 0x080011f2 0x080011f2 0x00000002 PAD + 0x080011f4 0x080011f4 0x00000010 Code RO 2393 .text.BMI088_GyroWaitDmaCplt bmi088.o + 0x08001204 0x08001204 0x00000142 Code RO 2369 .text.BMI088_Init bmi088.o + 0x08001346 0x08001346 0x00000002 PAD + 0x08001348 0x08001348 0x00000094 Code RO 2395 .text.BMI088_ParseAccl bmi088.o + 0x080013dc 0x080013dc 0x00000084 Code RO 2397 .text.BMI088_ParseGyro bmi088.o + 0x08001460 0x08001460 0x00000040 Code RO 2375 .text.BMI088_RxCpltCallback bmi088.o + 0x080014a0 0x080014a0 0x00000010 Code RO 2383 .text.BMI088_WaitNew bmi088.o + 0x080014b0 0x080014b0 0x00000042 Code RO 2387 .text.BMI_Read bmi088.o + 0x080014f2 0x080014f2 0x00000002 PAD + 0x080014f4 0x080014f4 0x0000005e Code RO 2373 .text.BMI_ReadSingle bmi088.o + 0x08001552 0x08001552 0x00000002 PAD + 0x08001554 0x08001554 0x00000048 Code RO 2371 .text.BMI_WriteSingle bmi088.o + 0x0800159c 0x0800159c 0x0000002e Code RO 2101 .text.BSP_GPIO_DisableIRQ gpio_1.o + 0x080015ca 0x080015ca 0x00000002 PAD + 0x080015cc 0x080015cc 0x0000002e Code RO 2099 .text.BSP_GPIO_EnableIRQ gpio_1.o + 0x080015fa 0x080015fa 0x00000002 PAD + 0x080015fc 0x080015fc 0x0000002c Code RO 2107 .text.BSP_GPIO_ReadPin gpio_1.o + 0x08001628 0x08001628 0x0000004a Code RO 2097 .text.BSP_GPIO_RegisterCallback gpio_1.o + 0x08001672 0x08001672 0x00000002 PAD + 0x08001674 0x08001674 0x00000030 Code RO 2103 .text.BSP_GPIO_WritePin gpio_1.o + 0x080016a4 0x080016a4 0x00000090 Code RO 2178 .text.BSP_PWM_SetComp pwm.o + 0x08001734 0x08001734 0x0000002c Code RO 2176 .text.BSP_PWM_Start pwm.o + 0x08001760 0x08001760 0x0000002c Code RO 2182 .text.BSP_PWM_Stop pwm.o + 0x0800178c 0x0800178c 0x00000012 Code RO 2221 .text.BSP_SPI_GetHandle spi_1.o + 0x0800179e 0x0800179e 0x00000002 PAD + 0x080017a0 0x080017a0 0x00000034 Code RO 2227 .text.BSP_SPI_Receive spi_1.o + 0x080017d4 0x080017d4 0x0000001e Code RO 2223 .text.BSP_SPI_RegisterCallback spi_1.o + 0x080017f2 0x080017f2 0x00000002 PAD + 0x080017f4 0x080017f4 0x00000034 Code RO 2225 .text.BSP_SPI_Transmit spi_1.o + 0x08001828 0x08001828 0x00000058 Code RO 2252 .text.BSP_TIME_Delay_ms time.o + 0x08001880 0x08001880 0x00000020 Code RO 2254 .text.BSP_TIME_Delay_us time.o + 0x080018a0 0x080018a0 0x00000050 Code RO 2250 .text.BSP_TIME_Get_us time.o + 0x080018f0 0x080018f0 0x00000020 Code RO 2284 .text.BSP_UART_GetHandle uart.o + 0x08001910 0x08001910 0x0000003a Code RO 2282 .text.BSP_UART_IRQHandler uart.o + 0x0800194a 0x0800194a 0x00000002 PAD + 0x0800194c 0x0800194c 0x00000032 Code RO 2286 .text.BSP_UART_RegisterCallback uart.o + 0x0800197e 0x0800197e 0x00000002 PAD + 0x08001980 0x08001980 0x00000002 Code RO 149 .text.BusFault_Handler stm32f4xx_it.o + 0x08001982 0x08001982 0x00000002 PAD + 0x08001984 0x08001984 0x000001b8 Code RO 2617 .text.COMP_AT9S_CMD_ParseRc at9s_pro_cmd.o + 0x08001b3c 0x08001b3c 0x0000003c Code RO 2580 .text.CircleError user_math.o + 0x08001b78 0x08001b78 0x0000000a Code RO 2608 .text.Config_GetRobotParam config.o + 0x08001b82 0x08001b82 0x00000002 PAD + 0x08001b84 0x08001b84 0x00000046 Code RO 2482 .text.DEVICE_AT9S_Init at9s_pro.o + 0x08001bca 0x08001bca 0x00000002 PAD + 0x08001bcc 0x08001bcc 0x00000278 Code RO 2492 .text.DEVICE_AT9S_ParseRaw at9s_pro.o + 0x08001e44 0x08001e44 0x00000016 Code RO 2484 .text.DEVICE_AT9S_RxCpltCallback at9s_pro.o + 0x08001e5a 0x08001e5a 0x00000002 PAD + 0x08001e5c 0x08001e5c 0x0000001c Code RO 2488 .text.DEVICE_AT9S_StartDmaRecv at9s_pro.o + 0x08001e78 0x08001e78 0x0000001a Code RO 2490 .text.DEVICE_AT9S_WaitDmaCplt at9s_pro.o + 0x08001e92 0x08001e92 0x00000002 PAD + 0x08001e94 0x08001e94 0x00000010 Code RO 161 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x08001ea4 0x08001ea4 0x00000010 Code RO 163 .text.DMA1_Stream2_IRQHandler stm32f4xx_it.o + 0x08001eb4 0x08001eb4 0x00000010 Code RO 167 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o + 0x08001ec4 0x08001ec4 0x00000010 Code RO 169 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x08001ed4 0x08001ed4 0x00000010 Code RO 171 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x08001ee4 0x08001ee4 0x00000010 Code RO 173 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x08001ef4 0x08001ef4 0x0000003c Code RO 377 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x08001f30 0x08001f30 0x00000050 Code RO 375 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x08001f80 0x08001f80 0x00000030 Code RO 383 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x08001fb0 0x08001fb0 0x00000002 Code RO 153 .text.DebugMon_Handler stm32f4xx_it.o + 0x08001fb2 0x08001fb2 0x00000002 PAD + 0x08001fb4 0x08001fb4 0x0000000a Code RO 157 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x08001fbe 0x08001fbe 0x00000002 PAD + 0x08001fc0 0x08001fc0 0x0000000a Code RO 159 .text.EXTI4_IRQHandler stm32f4xx_it.o 0x08001fca 0x08001fca 0x00000002 PAD - 0x08001fcc 0x08001fcc 0x0000000a Code RO 157 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x08001fcc 0x08001fcc 0x0000000a Code RO 165 .text.EXTI9_5_IRQHandler stm32f4xx_it.o 0x08001fd6 0x08001fd6 0x00000002 PAD - 0x08001fd8 0x08001fd8 0x0000000a Code RO 159 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x08001fe2 0x08001fe2 0x00000002 PAD - 0x08001fe4 0x08001fe4 0x0000000a Code RO 165 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x08001fee 0x08001fee 0x00000002 PAD - 0x08001ff0 0x08001ff0 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x08001ff6 0x08001ff6 0x00000002 PAD - 0x08001ff8 0x08001ff8 0x00000080 Code RO 387 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x08002078 0x08002078 0x00000024 Code RO 389 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x0800209c 0x0800209c 0x0000018c Code RO 393 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x08002228 0x08002228 0x000000ce Code RO 373 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x080022f6 0x080022f6 0x00000002 PAD - 0x080022f8 0x080022f8 0x00000062 Code RO 385 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x0800235a 0x0800235a 0x00000002 PAD - 0x0800235c 0x0800235c 0x00000028 Code RO 571 .text.HAL_Delay stm32f4xx_hal.o - 0x08002384 0x08002384 0x0000002c Code RO 2095 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x080023b0 0x080023b0 0x0000001a Code RO 345 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x080023ca 0x080023ca 0x00000002 PAD - 0x080023cc 0x080023cc 0x0000019a Code RO 333 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x08001fd8 0x08001fd8 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x08001fde 0x08001fde 0x00000002 PAD + 0x08001fe0 0x08001fe0 0x00000080 Code RO 387 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x08002060 0x08002060 0x00000024 Code RO 389 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08002084 0x08002084 0x0000018c Code RO 393 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x08002210 0x08002210 0x000000ce Code RO 373 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x080022de 0x080022de 0x00000002 PAD + 0x080022e0 0x080022e0 0x00000062 Code RO 385 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08002342 0x08002342 0x00000002 PAD + 0x08002344 0x08002344 0x00000028 Code RO 571 .text.HAL_Delay stm32f4xx_hal.o + 0x0800236c 0x0800236c 0x0000002c Code RO 2095 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08002398 0x08002398 0x0000001a Code RO 345 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x080023b2 0x080023b2 0x00000002 PAD + 0x080023b4 0x080023b4 0x0000019a Code RO 333 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x0800254e 0x0800254e 0x00000002 PAD + 0x08002550 0x08002550 0x0000000a Code RO 337 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x0800255a 0x0800255a 0x00000002 PAD + 0x0800255c 0x0800255c 0x0000000a Code RO 339 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o 0x08002566 0x08002566 0x00000002 PAD - 0x08002568 0x08002568 0x0000000a Code RO 337 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x08002572 0x08002572 0x00000002 PAD - 0x08002574 0x08002574 0x0000000a Code RO 339 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x0800257e 0x0800257e 0x00000002 PAD - 0x08002580 0x08002580 0x0000000c Code RO 563 .text.HAL_GetTick stm32f4xx_hal.o - 0x0800258c 0x0800258c 0x00000198 Code RO 642 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08002724 0x08002724 0x000000f2 Code RO 61 .text.HAL_I2C_MspInit i2c.o - 0x08002816 0x08002816 0x00000002 PAD - 0x08002818 0x08002818 0x0000001a Code RO 561 .text.HAL_IncTick stm32f4xx_hal.o - 0x08002832 0x08002832 0x00000002 PAD - 0x08002834 0x08002834 0x00000036 Code RO 551 .text.HAL_Init stm32f4xx_hal.o - 0x0800286a 0x0800286a 0x00000002 PAD - 0x0800286c 0x0800286c 0x00000050 Code RO 553 .text.HAL_InitTick stm32f4xx_hal.o - 0x080028bc 0x080028bc 0x00000046 Code RO 184 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08002902 0x08002902 0x00000002 PAD - 0x08002904 0x08002904 0x00000008 Code RO 489 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800290c 0x0800290c 0x00000008 Code RO 485 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08002914 0x08002914 0x0000001e Code RO 477 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08002932 0x08002932 0x00000002 PAD - 0x08002934 0x08002934 0x00000008 Code RO 473 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800293c 0x0800293c 0x00000160 Code RO 197 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08002a9c 0x08002a9c 0x0000000c Code RO 207 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x08002aa8 0x08002aa8 0x00000022 Code RO 209 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x08002aca 0x08002aca 0x00000002 PAD - 0x08002acc 0x08002acc 0x00000022 Code RO 211 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x08002aee 0x08002aee 0x00000002 PAD - 0x08002af0 0x08002af0 0x00000068 Code RO 199 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x08002b58 0x08002b58 0x00000348 Code RO 195 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08002ea0 0x08002ea0 0x00000022 Code RO 2217 .text.HAL_SPI_ErrorCallback spi_1.o - 0x08002ec2 0x08002ec2 0x00000002 PAD - 0x08002ec4 0x08002ec4 0x000000b4 Code RO 815 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x08002f78 0x08002f78 0x0000012e Code RO 77 .text.HAL_SPI_MspInit spi.o - 0x080030a6 0x080030a6 0x00000002 PAD - 0x080030a8 0x080030a8 0x00000172 Code RO 827 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x0800321a 0x0800321a 0x00000002 PAD - 0x0800321c 0x0800321c 0x000000ec Code RO 863 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08003308 0x08003308 0x00000022 Code RO 2207 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x0800332a 0x0800332a 0x00000002 PAD - 0x0800332c 0x0800332c 0x00000022 Code RO 2213 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x0800334e 0x0800334e 0x00000002 PAD - 0x08003350 0x08003350 0x0000018a Code RO 823 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x080034da 0x080034da 0x00000002 PAD - 0x080034dc 0x080034dc 0x000001f8 Code RO 829 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x080036d4 0x080036d4 0x00000124 Code RO 865 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x080037f8 0x080037f8 0x000000cc Code RO 855 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x080038c4 0x080038c4 0x00000020 Code RO 2203 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x080038e4 0x080038e4 0x00000022 Code RO 2211 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x08003906 0x08003906 0x00000002 PAD - 0x08003908 0x08003908 0x00000022 Code RO 2209 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x0800392a 0x0800392a 0x00000002 PAD - 0x0800392c 0x0800392c 0x00000022 Code RO 2215 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x0800394e 0x0800394e 0x00000002 PAD - 0x08003950 0x08003950 0x00000008 Code RO 497 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08003958 0x08003958 0x0000004c Code RO 1249 .text.HAL_TIMEx_ConfigBreakDeadTime stm32f4xx_hal_tim_ex.o - 0x080039a4 0x080039a4 0x000000b8 Code RO 1247 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08003a5c 0x08003a5c 0x0000005a Code RO 933 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08003ab6 0x08003ab6 0x00000002 PAD - 0x08003ab8 0x08003ab8 0x00000036 Code RO 104 .text.HAL_TIM_Base_MspInit tim.o - 0x08003aee 0x08003aee 0x00000002 PAD - 0x08003af0 0x08003af0 0x00000142 Code RO 94 .text.HAL_TIM_MspPostInit tim.o - 0x08003c32 0x08003c32 0x00000002 PAD - 0x08003c34 0x08003c34 0x00000098 Code RO 1099 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x08003ccc 0x08003ccc 0x0000005a Code RO 987 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x08003d26 0x08003d26 0x00000002 PAD - 0x08003d28 0x08003d28 0x0000008c Code RO 102 .text.HAL_TIM_PWM_MspInit tim.o - 0x08003db4 0x08003db4 0x00000122 Code RO 995 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x08003ed6 0x08003ed6 0x00000002 PAD - 0x08003ed8 0x08003ed8 0x00000082 Code RO 997 .text.HAL_TIM_PWM_Stop stm32f4xx_hal_tim.o - 0x08003f5a 0x08003f5a 0x00000002 PAD - 0x08003f5c 0x08003f5c 0x00000002 Code RO 1363 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08003f5e 0x08003f5e 0x00000002 PAD - 0x08003f60 0x08003f60 0x00000026 Code RO 2274 .text.HAL_UART_ErrorCallback uart.o - 0x08003f86 0x08003f86 0x00000002 PAD - 0x08003f88 0x08003f88 0x0000025a Code RO 1355 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x080041e2 0x080041e2 0x00000002 PAD - 0x080041e4 0x080041e4 0x00000060 Code RO 1271 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x08004244 0x08004244 0x000001ac Code RO 126 .text.HAL_UART_MspInit usart.o - 0x080043f0 0x080043f0 0x0000002c Code RO 1307 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x0800441c 0x0800441c 0x00000026 Code RO 2270 .text.HAL_UART_RxCpltCallback uart.o - 0x08004442 0x08004442 0x00000002 PAD - 0x08004444 0x08004444 0x00000026 Code RO 2272 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x0800446a 0x0800446a 0x00000002 PAD - 0x0800446c 0x0800446c 0x00000026 Code RO 2264 .text.HAL_UART_TxCpltCallback uart.o - 0x08004492 0x08004492 0x00000002 PAD - 0x08004494 0x08004494 0x00000002 Code RO 145 .text.HardFault_Handler stm32f4xx_it.o - 0x08004496 0x08004496 0x00000002 PAD - 0x08004498 0x08004498 0x000000ac Code RO 2663 .text.HeightEstimation_GetHeight heightestimation.o - 0x08004544 0x08004544 0x000000f4 Code RO 2661 .text.HeightEstimation_Init heightestimation.o - 0x08004638 0x08004638 0x000000c0 Code RO 2659 .text.HeightEstimation_Updata heightestimation.o - 0x080046f8 0x080046f8 0x0000004e Code RO 2353 .text.IIC_Ack user_iic.o - 0x08004746 0x08004746 0x00000002 PAD - 0x08004748 0x08004748 0x0000004e Code RO 2355 .text.IIC_NAck user_iic.o - 0x08004796 0x08004796 0x00000002 PAD - 0x08004798 0x08004798 0x00000064 Code RO 2359 .text.IIC_Read_Byte user_iic.o - 0x080047fc 0x080047fc 0x0000005a Code RO 2357 .text.IIC_Send_Byte user_iic.o - 0x08004856 0x08004856 0x00000002 PAD - 0x08004858 0x08004858 0x00000044 Code RO 2347 .text.IIC_Start user_iic.o - 0x0800489c 0x0800489c 0x0000003a Code RO 2349 .text.IIC_Stop user_iic.o - 0x080048d6 0x080048d6 0x00000002 PAD - 0x080048d8 0x080048d8 0x0000005a Code RO 2351 .text.IIC_Wait_Ack user_iic.o - 0x08004932 0x08004932 0x00000002 PAD - 0x08004934 0x08004934 0x00000042 Code RO 2568 .text.InvSqrt user_math.o - 0x08004976 0x08004976 0x00000002 PAD - 0x08004978 0x08004978 0x0000007c Code RO 2528 .text.LowPassFilter2p_Apply filter.o - 0x080049f4 0x080049f4 0x000000a4 Code RO 2526 .text.LowPassFilter2p_Init filter.o - 0x08004a98 0x08004a98 0x0000005c Code RO 2532 .text.LowPassFilter2p_Reset filter.o - 0x08004af4 0x08004af4 0x0000009a Code RO 50 .text.MX_DMA_Init dma.o - 0x08004b8e 0x08004b8e 0x00000002 PAD - 0x08004b90 0x08004b90 0x0000003a Code RO 36 .text.MX_FREERTOS_Init freertos.o - 0x08004bca 0x08004bca 0x00000002 PAD - 0x08004bcc 0x08004bcc 0x000001a0 Code RO 25 .text.MX_GPIO_Init gpio.o - 0x08004d6c 0x08004d6c 0x0000003e Code RO 59 .text.MX_I2C3_Init i2c.o - 0x08004daa 0x08004daa 0x00000002 PAD - 0x08004dac 0x08004dac 0x0000004e Code RO 75 .text.MX_SPI1_Init spi.o - 0x08004dfa 0x08004dfa 0x00000002 PAD - 0x08004dfc 0x08004dfc 0x00000088 Code RO 100 .text.MX_TIM10_Init tim.o - 0x08004e84 0x08004e84 0x0000011a Code RO 92 .text.MX_TIM1_Init tim.o - 0x08004f9e 0x08004f9e 0x00000002 PAD - 0x08004fa0 0x08004fa0 0x00000092 Code RO 96 .text.MX_TIM4_Init tim.o - 0x08005032 0x08005032 0x00000002 PAD - 0x08005034 0x08005034 0x000000c2 Code RO 98 .text.MX_TIM5_Init tim.o - 0x080050f6 0x080050f6 0x00000002 PAD - 0x080050f8 0x080050f8 0x0000003c Code RO 122 .text.MX_USART3_UART_Init usart.o - 0x08005134 0x08005134 0x00000038 Code RO 124 .text.MX_USART6_UART_Init usart.o - 0x0800516c 0x0800516c 0x00000002 Code RO 147 .text.MemManage_Handler stm32f4xx_it.o - 0x0800516e 0x0800516e 0x00000002 PAD - 0x08005170 0x08005170 0x00000002 Code RO 143 .text.NMI_Handler stm32f4xx_it.o - 0x08005172 0x08005172 0x00000002 PAD - 0x08005174 0x08005174 0x0000002c Code RO 483 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x080051a0 0x080051a0 0x00000170 Code RO 2556 .text.PID_Calc pid.o - 0x08005310 0x08005310 0x00000090 Code RO 2550 .text.PID_Init pid.o - 0x080053a0 0x080053a0 0x0000002c Code RO 2554 .text.PID_Reset pid.o - 0x080053cc 0x080053cc 0x00000004 PAD - 0x080053d0 0x080053d0 0x00000064 Code RO 2078 .text.PendSV_Handler port.o - 0x08005434 0x08005434 0x00000024 Code RO 2343 .text.SDA_IN user_iic.o - 0x08005458 0x08005458 0x00000024 Code RO 2345 .text.SDA_OUT user_iic.o - 0x0800547c 0x0800547c 0x00000022 Code RO 861 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800549e 0x0800549e 0x00000002 PAD - 0x080054a0 0x080054a0 0x0000000a Code RO 867 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x080054aa 0x080054aa 0x00000002 PAD - 0x080054ac 0x080054ac 0x0000000a Code RO 857 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x080054b6 0x080054b6 0x00000002 PAD - 0x080054b8 0x080054b8 0x0000000a Code RO 871 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x080054c2 0x080054c2 0x00000002 PAD - 0x080054c4 0x080054c4 0x00000068 Code RO 869 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800552c 0x0800552c 0x00000070 Code RO 859 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800559c 0x0800559c 0x0000005a Code RO 873 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x080055f6 0x080055f6 0x00000002 PAD - 0x080055f8 0x080055f8 0x00000090 Code RO 831 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x08005688 0x08005688 0x0000008a Code RO 825 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x08005712 0x08005712 0x00000002 PAD - 0x08005714 0x08005714 0x00000014 Code RO 2205 .text.SPI_Get spi_1.o - 0x08005728 0x08005728 0x000000e0 Code RO 923 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x08005808 0x08005808 0x00000080 Code RO 2331 .text.SPL06_CaculateHeight spl06_1.o - 0x08005888 0x08005888 0x00000066 Code RO 2329 .text.SPL06_Init spl06_1.o - 0x080058ee 0x080058ee 0x00000002 PAD - 0x080058f0 0x080058f0 0x00000130 Code RO 2315 .text.SPL06_Update spl06_1.o - 0x08005a20 0x08005a20 0x00000024 Code RO 2062 .text.SVC_Handler port.o - 0x08005a44 0x08005a44 0x00000008 Code RO 1854 .text.SVC_Setup cmsis_os2.o - 0x08005a4c 0x08005a4c 0x0000000c Code RO 38 .text.StartDefaultTask freertos.o - 0x08005a58 0x08005a58 0x0000002e Code RO 499 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x08005a86 0x08005a86 0x00000002 PAD - 0x08005a88 0x08005a88 0x00000014 Code RO 155 .text.SysTick_Handler stm32f4xx_it.o - 0x08005a9c 0x08005a9c 0x000000a4 Code RO 13 .text.SystemClock_Config main.o - 0x08005b40 0x08005b40 0x00000012 Code RO 1403 .text.SystemInit system_stm32f4xx.o - 0x08005b52 0x08005b52 0x00000002 PAD - 0x08005b54 0x08005b54 0x0000012c Code RO 937 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x08005c80 0x08005c80 0x00000024 Code RO 971 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x08005ca4 0x08005ca4 0x00000064 Code RO 1081 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x08005d08 0x08005d08 0x0000006a Code RO 1083 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x08005d72 0x08005d72 0x00000002 PAD - 0x08005d74 0x08005d74 0x00000068 Code RO 1085 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x08005ddc 0x08005ddc 0x0000004e Code RO 1087 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x08005e2a 0x08005e2a 0x00000002 PAD - 0x08005e2c 0x08005e2c 0x00000088 Code RO 2718 .text.Task_Init init.o 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.text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x080062f8 0x080062f8 0x0000001c Code RO 1317 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o - 0x08006314 0x08006314 0x0000001e Code RO 2266 .text.UART_Get uart.o - 0x08006332 0x08006332 0x00000002 PAD - 0x08006334 0x08006334 0x000000c8 Code RO 1357 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x080063fc 0x080063fc 0x000000dc Code RO 1275 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x080064d8 0x080064d8 0x000000aa Code RO 1309 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o - 0x08006582 0x08006582 0x00000002 PAD - 0x08006584 0x08006584 0x00000052 Code RO 1365 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x080065d6 0x080065d6 0x00000002 PAD - 0x080065d8 0x080065d8 0x00000018 Code RO 175 .text.USART6_IRQHandler stm32f4xx_it.o - 0x080065f0 0x080065f0 0x00000002 Code RO 151 .text.UsageFault_Handler stm32f4xx_it.o - 0x080065f2 0x080065f2 0x00000002 PAD - 0x080065f4 0x080065f4 0x0000000e Code RO 2534 .text.__ARM_isfinitef filter.o - 0x08006602 0x08006602 0x00000002 PAD - 0x08006604 0x08006604 0x0000000e Code RO 2552 .text.__ARM_isfinitef pid.o - 0x08006612 0x08006612 0x00000002 PAD - 0x08006614 0x08006614 0x00000010 Code RO 2530 .text.__ARM_isinff filter.o - 0x08006624 0x08006624 0x00000028 Code RO 491 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800664c 0x0800664c 0x00000020 Code RO 487 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800666c 0x0800666c 0x00000010 Code RO 479 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800667c 0x0800667c 0x00000022 Code RO 481 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800669e 0x0800669e 0x00000002 PAD - 0x080066a0 0x080066a0 0x0000000e Code RO 2010 .text.__NVIC_SetPriority cmsis_os2.o - 0x080066ae 0x080066ae 0x00000002 PAD - 0x080066b0 0x080066b0 0x00000020 Code RO 475 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080066d0 0x080066d0 0x00000016 Code RO 2513 .text.copysignf ahrs.o - 0x080066e6 0x080066e6 0x00000002 PAD - 0x080066e8 0x080066e8 0x0000009c Code RO 1646 .text.eTaskGetState tasks.o - 0x08006784 0x08006784 0x0000003e Code RO 11 .text.main main.o - 0x080067c2 0x080067c2 0x00000002 PAD - 0x080067c4 0x080067c4 0x00000020 Code RO 1912 .text.osDelay cmsis_os2.o - 0x080067e4 0x080067e4 0x00000034 Code RO 1914 .text.osDelayUntil cmsis_os2.o - 0x08006818 0x08006818 0x00000026 Code RO 1850 .text.osKernelGetState cmsis_os2.o - 0x0800683e 0x0800683e 0x00000002 PAD - 0x08006840 0x08006840 0x00000014 Code RO 1862 .text.osKernelGetTickCount cmsis_os2.o - 0x08006854 0x08006854 0x00000006 Code RO 1864 .text.osKernelGetTickFreq cmsis_os2.o - 0x0800685a 0x0800685a 0x00000002 PAD - 0x0800685c 0x0800685c 0x00000028 Code RO 1846 .text.osKernelInitialize cmsis_os2.o - 0x08006884 0x08006884 0x0000002c Code RO 1856 .text.osKernelLock cmsis_os2.o - 0x080068b0 0x080068b0 0x00000034 Code RO 1852 .text.osKernelStart cmsis_os2.o - 0x080068e4 0x080068e4 0x00000044 Code RO 1858 .text.osKernelUnlock cmsis_os2.o - 0x08006928 0x08006928 0x00000086 Code RO 1966 .text.osMessageQueueGet cmsis_os2.o - 0x080069ae 0x080069ae 0x00000002 PAD - 0x080069b0 0x080069b0 0x000000a0 Code RO 1962 .text.osMessageQueueNew cmsis_os2.o - 0x08006a50 0x08006a50 0x0000008e Code RO 1964 .text.osMessageQueuePut cmsis_os2.o - 0x08006ade 0x08006ade 0x00000002 PAD - 0x08006ae0 0x08006ae0 0x0000007e Code RO 1904 .text.osThreadFlagsSet cmsis_os2.o - 0x08006b5e 0x08006b5e 0x00000002 PAD - 0x08006b60 0x08006b60 0x000000ba Code RO 1910 .text.osThreadFlagsWait cmsis_os2.o - 0x08006c1a 0x08006c1a 0x00000002 PAD - 0x08006c1c 0x08006c1c 0x00000008 Code RO 1880 .text.osThreadGetId cmsis_os2.o - 0x08006c24 0x08006c24 0x000000b4 Code RO 1876 .text.osThreadNew cmsis_os2.o - 0x08006cd8 0x08006cd8 0x00000034 Code RO 1898 .text.osThreadTerminate cmsis_os2.o - 0x08006d0c 0x08006d0c 0x00000080 Code RO 1640 .text.prvAddCurrentTaskToDelayedList tasks.o - 0x08006d8c 0x08006d8c 0x000000ac Code RO 1626 .text.prvAddNewTaskToReadyList tasks.o - 0x08006e38 0x08006e38 0x0000007c Code RO 1777 .text.prvCheckForValidListAndQueue timers.o - 0x08006eb4 0x08006eb4 0x0000004e Code RO 1744 .text.prvCheckTasksWaitingTermination tasks.o - 0x08006f02 0x08006f02 0x00000002 PAD - 0x08006f04 0x08006f04 0x00000026 Code RO 1517 .text.prvCopyDataFromQueue queue.o - 0x08006f2a 0x08006f2a 0x00000002 PAD - 0x08006f2c 0x08006f2c 0x0000007a Code RO 1505 .text.prvCopyDataToQueue queue.o - 0x08006fa6 0x08006fa6 0x00000002 PAD - 0x08006fa8 0x08006fa8 0x00000036 Code RO 1632 .text.prvDeleteTCB tasks.o - 0x08006fde 0x08006fde 0x00000002 PAD - 0x08006fe0 0x08006fe0 0x00000020 Code RO 1815 .text.prvGetNextExpireTime timers.o - 0x08007000 0x08007000 0x00000074 Code RO 2028 .text.prvHeapInit heap_4.o - 0x08007074 0x08007074 0x0000002a Code RO 1666 .text.prvIdleTask tasks.o - 0x0800709e 0x0800709e 0x00000002 PAD - 0x080070a0 0x080070a0 0x00000020 Code RO 1479 .text.prvInitialiseNewQueue queue.o - 0x080070c0 0x080070c0 0x00000098 Code RO 1624 .text.prvInitialiseNewTask tasks.o - 0x08007158 0x08007158 0x00000070 Code RO 1742 .text.prvInitialiseTaskLists tasks.o - 0x080071c8 0x080071c8 0x0000005a Code RO 2030 .text.prvInsertBlockIntoFreeList heap_4.o - 0x08007222 0x08007222 0x00000002 PAD - 0x08007224 0x08007224 0x00000040 Code RO 1827 .text.prvInsertTimerInActiveList timers.o - 0x08007264 0x08007264 0x00000018 Code RO 1519 .text.prvIsQueueEmpty queue.o - 0x0800727c 0x0800727c 0x0000001c Code RO 1507 .text.prvIsQueueFull queue.o - 0x08007298 0x08007298 0x00000028 Code RO 2070 .text.prvPortStartFirstTask port.o - 0x080072c0 0x080072c0 0x0000006e Code RO 1823 .text.prvProcessExpiredTimer timers.o - 0x0800732e 0x0800732e 0x00000002 PAD - 0x08007330 0x08007330 0x00000122 Code RO 1819 .text.prvProcessReceivedCommands timers.o - 0x08007452 0x08007452 0x00000002 PAD - 0x08007454 0x08007454 0x00000080 Code RO 1817 .text.prvProcessTimerOrBlockTask timers.o - 0x080074d4 0x080074d4 0x00000028 Code RO 1634 .text.prvResetNextTaskUnblockTime tasks.o - 0x080074fc 0x080074fc 0x0000002a Code RO 1821 .text.prvSampleTimeNow timers.o - 0x08007526 0x08007526 0x00000002 PAD - 0x08007528 0x08007528 0x0000008e Code RO 1825 .text.prvSwitchTimerLists timers.o - 0x080075b6 0x080075b6 0x00000002 PAD - 0x080075b8 0x080075b8 0x00000032 Code RO 2060 .text.prvTaskExitError port.o - 0x080075ea 0x080075ea 0x00000002 PAD - 0x080075ec 0x080075ec 0x00000016 Code RO 1779 .text.prvTimerTask timers.o - 0x08007602 0x08007602 0x00000002 PAD - 0x08007604 0x08007604 0x00000072 Code RO 1509 .text.prvUnlockQueue queue.o - 0x08007676 0x08007676 0x00000002 PAD - 0x08007678 0x08007678 0x0000014a Code RO 2026 .text.pvPortMalloc heap_4.o - 0x080077c2 0x080077c2 0x00000002 PAD - 0x080077c4 0x080077c4 0x00000028 Code RO 2058 .text.pxPortInitialiseStack port.o - 0x080077ec 0x080077ec 0x0000005c Code RO 2309 .text.spl06_config_pressure spl06_1.o - 0x08007848 0x08007848 0x00000060 Code RO 2307 .text.spl06_config_temperature spl06_1.o - 0x080078a8 0x080078a8 0x00000106 Code RO 2327 .text.spl06_get_calib_param spl06_1.o - 0x080079ae 0x080079ae 0x00000002 PAD - 0x080079b0 0x080079b0 0x0000000a Code RO 2317 .text.spl06_get_measure_status spl06_1.o - 0x080079ba 0x080079ba 0x00000002 PAD - 0x080079bc 0x080079bc 0x0000002a Code RO 2311 .text.spl06_get_pressure_adc spl06_1.o - 0x080079e6 0x080079e6 0x00000002 PAD - 0x080079e8 0x080079e8 0x0000002a Code RO 2313 .text.spl06_get_temperature_adc spl06_1.o - 0x08007a12 0x08007a12 0x00000002 PAD - 0x08007a14 0x08007a14 0x0000003a Code RO 2303 .text.spl06_read_reg spl06_1.o - 0x08007a4e 0x08007a4e 0x00000002 PAD - 0x08007a50 0x08007a50 0x0000000c Code RO 2305 .text.spl06_start spl06_1.o - 0x08007a5c 0x08007a5c 0x00000042 Code RO 2301 .text.spl06_write_reg spl06_1.o - 0x08007a9e 0x08007a9e 0x00000002 PAD - 0x08007aa0 0x08007aa0 0x00000024 Code RO 1465 .text.uxListRemove list.o - 0x08007ac4 0x08007ac4 0x0000001a Code RO 2006 .text.vApplicationGetIdleTaskMemory cmsis_os2.o 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0x08007f7e 0x00000002 PAD - 0x08007f80 0x08007f80 0x00000032 Code RO 1686 .text.vTaskPlaceOnEventList tasks.o - 0x08007fb2 0x08007fb2 0x00000002 PAD - 0x08007fb4 0x08007fb4 0x0000003e Code RO 1690 .text.vTaskPlaceOnEventListRestricted tasks.o - 0x08007ff2 0x08007ff2 0x00000002 PAD - 0x08007ff4 0x08007ff4 0x000000a4 Code RO 1664 .text.vTaskStartScheduler tasks.o - 0x08008098 0x08008098 0x00000010 Code RO 1638 .text.vTaskSuspendAll tasks.o - 0x080080a8 0x080080a8 0x000000ca Code RO 1656 .text.vTaskSwitchContext tasks.o - 0x08008172 0x08008172 0x00000002 PAD - 0x08008174 0x08008174 0x00000112 Code RO 2064 .text.xPortStartScheduler port.o + 0x08002568 0x08002568 0x0000000c Code RO 563 .text.HAL_GetTick stm32f4xx_hal.o + 0x08002574 0x08002574 0x00000198 Code RO 642 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x0800270c 0x0800270c 0x000000f2 Code RO 61 .text.HAL_I2C_MspInit i2c.o + 0x080027fe 0x080027fe 0x00000002 PAD + 0x08002800 0x08002800 0x0000001a Code RO 561 .text.HAL_IncTick stm32f4xx_hal.o + 0x0800281a 0x0800281a 0x00000002 PAD + 0x0800281c 0x0800281c 0x00000036 Code RO 551 .text.HAL_Init stm32f4xx_hal.o + 0x08002852 0x08002852 0x00000002 PAD + 0x08002854 0x08002854 0x00000050 Code RO 553 .text.HAL_InitTick stm32f4xx_hal.o + 0x080028a4 0x080028a4 0x00000046 Code RO 184 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x080028ea 0x080028ea 0x00000002 PAD + 0x080028ec 0x080028ec 0x00000008 Code RO 489 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x080028f4 0x080028f4 0x00000008 Code RO 485 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x080028fc 0x080028fc 0x0000001e Code RO 477 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x0800291a 0x0800291a 0x00000002 PAD + 0x0800291c 0x0800291c 0x00000008 Code RO 473 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08002924 0x08002924 0x00000160 Code RO 197 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08002a84 0x08002a84 0x0000000c Code RO 207 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08002a90 0x08002a90 0x00000022 Code RO 209 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x08002ab2 0x08002ab2 0x00000002 PAD + 0x08002ab4 0x08002ab4 0x00000022 Code RO 211 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x08002ad6 0x08002ad6 0x00000002 PAD + 0x08002ad8 0x08002ad8 0x00000068 Code RO 199 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x08002b40 0x08002b40 0x00000348 Code RO 195 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08002e88 0x08002e88 0x00000022 Code RO 2217 .text.HAL_SPI_ErrorCallback spi_1.o + 0x08002eaa 0x08002eaa 0x00000002 PAD + 0x08002eac 0x08002eac 0x000000b4 Code RO 815 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x08002f60 0x08002f60 0x0000012e Code RO 77 .text.HAL_SPI_MspInit spi.o + 0x0800308e 0x0800308e 0x00000002 PAD + 0x08003090 0x08003090 0x00000172 Code RO 827 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x08003202 0x08003202 0x00000002 PAD + 0x08003204 0x08003204 0x000000ec Code RO 863 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x080032f0 0x080032f0 0x00000022 Code RO 2207 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08003312 0x08003312 0x00000002 PAD + 0x08003314 0x08003314 0x00000022 Code RO 2213 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08003336 0x08003336 0x00000002 PAD + 0x08003338 0x08003338 0x0000018a Code RO 823 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x080034c2 0x080034c2 0x00000002 PAD + 0x080034c4 0x080034c4 0x000001f8 Code RO 829 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x080036bc 0x080036bc 0x00000124 Code RO 865 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x080037e0 0x080037e0 0x000000cc Code RO 855 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x080038ac 0x080038ac 0x00000020 Code RO 2203 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x080038cc 0x080038cc 0x00000022 Code RO 2211 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x080038ee 0x080038ee 0x00000002 PAD + 0x080038f0 0x080038f0 0x00000022 Code RO 2209 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x08003912 0x08003912 0x00000002 PAD + 0x08003914 0x08003914 0x00000022 Code RO 2215 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08003936 0x08003936 0x00000002 PAD + 0x08003938 0x08003938 0x00000008 Code RO 497 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08003940 0x08003940 0x0000004c Code RO 1249 .text.HAL_TIMEx_ConfigBreakDeadTime stm32f4xx_hal_tim_ex.o + 0x0800398c 0x0800398c 0x000000b8 Code RO 1247 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08003a44 0x08003a44 0x0000005a Code RO 933 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08003a9e 0x08003a9e 0x00000002 PAD + 0x08003aa0 0x08003aa0 0x00000036 Code RO 104 .text.HAL_TIM_Base_MspInit tim.o + 0x08003ad6 0x08003ad6 0x00000002 PAD + 0x08003ad8 0x08003ad8 0x00000142 Code RO 94 .text.HAL_TIM_MspPostInit tim.o + 0x08003c1a 0x08003c1a 0x00000002 PAD + 0x08003c1c 0x08003c1c 0x00000098 Code RO 1099 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x08003cb4 0x08003cb4 0x0000005a Code RO 987 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08003d0e 0x08003d0e 0x00000002 PAD + 0x08003d10 0x08003d10 0x0000008c Code RO 102 .text.HAL_TIM_PWM_MspInit tim.o + 0x08003d9c 0x08003d9c 0x00000122 Code RO 995 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x08003ebe 0x08003ebe 0x00000002 PAD + 0x08003ec0 0x08003ec0 0x00000082 Code RO 997 .text.HAL_TIM_PWM_Stop stm32f4xx_hal_tim.o + 0x08003f42 0x08003f42 0x00000002 PAD + 0x08003f44 0x08003f44 0x00000002 Code RO 1363 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08003f46 0x08003f46 0x00000002 PAD + 0x08003f48 0x08003f48 0x00000026 Code RO 2274 .text.HAL_UART_ErrorCallback uart.o + 0x08003f6e 0x08003f6e 0x00000002 PAD + 0x08003f70 0x08003f70 0x0000025a Code RO 1355 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x080041ca 0x080041ca 0x00000002 PAD + 0x080041cc 0x080041cc 0x00000060 Code RO 1271 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x0800422c 0x0800422c 0x000001ac Code RO 126 .text.HAL_UART_MspInit usart.o + 0x080043d8 0x080043d8 0x0000002c Code RO 1307 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x08004404 0x08004404 0x00000026 Code RO 2270 .text.HAL_UART_RxCpltCallback uart.o + 0x0800442a 0x0800442a 0x00000002 PAD + 0x0800442c 0x0800442c 0x00000026 Code RO 2272 .text.HAL_UART_RxHalfCpltCallback uart.o + 0x08004452 0x08004452 0x00000002 PAD + 0x08004454 0x08004454 0x00000026 Code RO 2264 .text.HAL_UART_TxCpltCallback uart.o + 0x0800447a 0x0800447a 0x00000002 PAD + 0x0800447c 0x0800447c 0x00000002 Code RO 145 .text.HardFault_Handler stm32f4xx_it.o + 0x0800447e 0x0800447e 0x00000002 PAD + 0x08004480 0x08004480 0x000000ac Code RO 2671 .text.HeightEstimation_GetHeight heightestimation.o + 0x0800452c 0x0800452c 0x000000f4 Code RO 2669 .text.HeightEstimation_Init heightestimation.o + 0x08004620 0x08004620 0x000000c0 Code RO 2667 .text.HeightEstimation_Updata heightestimation.o + 0x080046e0 0x080046e0 0x0000004e Code RO 2353 .text.IIC_Ack user_iic.o + 0x0800472e 0x0800472e 0x00000002 PAD + 0x08004730 0x08004730 0x0000004e Code RO 2355 .text.IIC_NAck user_iic.o + 0x0800477e 0x0800477e 0x00000002 PAD + 0x08004780 0x08004780 0x00000064 Code RO 2359 .text.IIC_Read_Byte user_iic.o + 0x080047e4 0x080047e4 0x0000005a Code RO 2357 .text.IIC_Send_Byte user_iic.o + 0x0800483e 0x0800483e 0x00000002 PAD + 0x08004840 0x08004840 0x00000044 Code RO 2347 .text.IIC_Start user_iic.o + 0x08004884 0x08004884 0x0000003a Code RO 2349 .text.IIC_Stop user_iic.o + 0x080048be 0x080048be 0x00000002 PAD + 0x080048c0 0x080048c0 0x0000005a Code RO 2351 .text.IIC_Wait_Ack user_iic.o + 0x0800491a 0x0800491a 0x00000002 PAD + 0x0800491c 0x0800491c 0x00000042 Code RO 2568 .text.InvSqrt user_math.o + 0x0800495e 0x0800495e 0x00000002 PAD + 0x08004960 0x08004960 0x0000002e Code RO 2626 .text.Kalman_Init xm_quadctrl.o + 0x0800498e 0x0800498e 0x00000002 PAD + 0x08004990 0x08004990 0x000000b2 Code RO 2628 .text.Kalman_Update xm_quadctrl.o + 0x08004a42 0x08004a42 0x00000002 PAD + 0x08004a44 0x08004a44 0x0000007c Code RO 2528 .text.LowPassFilter2p_Apply filter.o + 0x08004ac0 0x08004ac0 0x000000a4 Code RO 2526 .text.LowPassFilter2p_Init filter.o + 0x08004b64 0x08004b64 0x0000005c Code RO 2532 .text.LowPassFilter2p_Reset filter.o + 0x08004bc0 0x08004bc0 0x0000009a Code RO 50 .text.MX_DMA_Init dma.o + 0x08004c5a 0x08004c5a 0x00000002 PAD + 0x08004c5c 0x08004c5c 0x0000003a Code RO 36 .text.MX_FREERTOS_Init freertos.o + 0x08004c96 0x08004c96 0x00000002 PAD + 0x08004c98 0x08004c98 0x000001a0 Code RO 25 .text.MX_GPIO_Init gpio.o + 0x08004e38 0x08004e38 0x0000003e Code RO 59 .text.MX_I2C3_Init i2c.o + 0x08004e76 0x08004e76 0x00000002 PAD + 0x08004e78 0x08004e78 0x0000004e Code RO 75 .text.MX_SPI1_Init spi.o + 0x08004ec6 0x08004ec6 0x00000002 PAD + 0x08004ec8 0x08004ec8 0x00000088 Code RO 100 .text.MX_TIM10_Init tim.o + 0x08004f50 0x08004f50 0x0000011a Code RO 92 .text.MX_TIM1_Init tim.o + 0x0800506a 0x0800506a 0x00000002 PAD + 0x0800506c 0x0800506c 0x00000092 Code RO 96 .text.MX_TIM4_Init tim.o + 0x080050fe 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RO 2638 .text.Quad_AttCtrl_agl xm_quadctrl.o + 0x08005554 0x08005554 0x00000074 Code RO 2640 .text.Quad_AttCtrl_omg xm_quadctrl.o + 0x080055c8 0x080055c8 0x000000f0 Code RO 2654 .text.Quad_Ctrl xm_quadctrl.o + 0x080056b8 0x080056b8 0x000001e4 Code RO 2652 .text.Quad_Init xm_quadctrl.o + 0x0800589c 0x0800589c 0x00000028 Code RO 2634 .text.Quad_Math_LimitFloat xm_quadctrl.o + 0x080058c4 0x080058c4 0x0000005e Code RO 2644 .text.Quad_Math_ScaleSumTo1 xm_quadctrl.o + 0x08005922 0x08005922 0x00000006 PAD + 0x08005928 0x08005928 0x000000f0 Code RO 2642 .text.Quad_Mixer xm_quadctrl.o + 0x08005a18 0x08005a18 0x0000003e Code RO 2646 .text.Quad_OutPut xm_quadctrl.o + 0x08005a56 0x08005a56 0x00000002 PAD + 0x08005a58 0x08005a58 0x0000004c Code RO 2636 .text.Quad_PosCtrl xm_quadctrl.o + 0x08005aa4 0x08005aa4 0x0000007a Code RO 2632 .text.Quad_SetTargetStates xm_quadctrl.o + 0x08005b1e 0x08005b1e 0x00000002 PAD + 0x08005b20 0x08005b20 0x00000060 Code RO 2630 .text.Quad_UpdateStatus xm_quadctrl.o + 0x08005b80 0x08005b80 0x00000024 Code RO 2343 .text.SDA_IN user_iic.o + 0x08005ba4 0x08005ba4 0x00000024 Code RO 2345 .text.SDA_OUT user_iic.o + 0x08005bc8 0x08005bc8 0x00000022 Code RO 861 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x08005bea 0x08005bea 0x00000002 PAD + 0x08005bec 0x08005bec 0x0000000a Code RO 867 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x08005bf6 0x08005bf6 0x00000002 PAD + 0x08005bf8 0x08005bf8 0x0000000a Code RO 857 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x08005c02 0x08005c02 0x00000002 PAD + 0x08005c04 0x08005c04 0x0000000a Code RO 871 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x08005c0e 0x08005c0e 0x00000002 PAD + 0x08005c10 0x08005c10 0x00000068 Code RO 869 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x08005c78 0x08005c78 0x00000070 Code RO 859 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x08005ce8 0x08005ce8 0x0000005a Code RO 873 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x08005d42 0x08005d42 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0x0000008c Code RO 2937 x$fpl$fnaninf fz_wm.l(fnaninf.o) - 0x0800bbfa 0x0800bbfa 0x0000001a Code RO 3160 x$fpl$fpinit fz_wm.l(fpinit.o) - 0x0800bc14 0x0800bc14 0x0000000a Code RO 2939 x$fpl$fretinf fz_wm.l(fretinf.o) - 0x0800bc1e 0x0800bc1e 0x00000002 PAD - 0x0800bc20 0x0800bc20 0x0000005c Code RO 2856 x$fpl$llufromf fz_wm.l(ffixull.o) - 0x0800bc7c 0x0800bc7c 0x00000064 Code RO 3146 x$fpl$retnan fz_wm.l(retnan.o) - 0x0800bce0 0x0800bce0 0x0000005c Code RO 2941 x$fpl$scalbn fz_wm.l(scalbn.o) - 0x0800bd3c 0x0800bd3c 0x00000030 Code RO 3162 x$fpl$trapveneer fz_wm.l(trapv.o) - 0x0800bd6c 0x0800bd6c 0x00000000 Code RO 2943 x$fpl$usenofp fz_wm.l(usenofp.o) - 0x0800bd6c 0x0800bd6c 0x00000004 PAD - 0x0800bd70 0x0800bd70 0x00000088 Data RO 2891 .constdata m_wm.l(pow.o) - 0x0800bdf8 0x0800bdf8 0x00000098 Data RO 2947 .constdata m_wm.l(atan.o) - 0x0800be90 0x0800be90 0x00000008 Data RO 2991 .constdata m_wm.l(qnan.o) - 0x0800be98 0x0800be98 0x00000020 Data RO 2993 .constdata m_wm.l(rredf.o) - 0x0800beb8 0x0800beb8 0x00000010 Data RO 1408 .rodata.AHBPrescTable system_stm32f4xx.o - 0x0800bec8 0x0800bec8 0x00000008 Data RO 1409 .rodata.APBPrescTable system_stm32f4xx.o - 0x0800bed0 0x0800bed0 0x00000030 Data RO 2110 .rodata.GPIO_Map gpio_1.o - 0x0800bf00 0x0800bf00 0x00000048 Data RO 2194 .rodata.PWM_Map pwm.o - 0x0800bf48 0x0800bf48 0x00000024 Data RO 2738 .rodata.attr_atti_esti user_task.o - 0x0800bf6c 0x0800bf6c 0x00000024 Data RO 2740 .rodata.attr_blink user_task.o - 0x0800bf90 0x0800bf90 0x00000024 Data RO 2741 .rodata.attr_height_cal user_task.o - 0x0800bfb4 0x0800bfb4 0x00000024 Data RO 2737 .rodata.attr_init user_task.o - 0x0800bfd8 0x0800bfd8 0x00000024 Data RO 2739 .rodata.attr_rc user_task.o - 0x0800bffc 0x0800bffc 0x00000024 Data RO 41 .rodata.defaultTask_attributes freertos.o - 0x0800c020 0x0800c020 0x00000020 Data RO 2696 .rodata.imu_temp_ctrl_pid_param atti_esti.o - 0x0800c040 0x0800c040 0x0000000c Data RO 40 .rodata.str1.1 freertos.o - 0x0800c04c 0x0800c04c 0x00000028 Data RO 2736 .rodata.str1.1 user_task.o - 0x0800c074 0x0800c074 0x00000020 Data RO 3238 Region$$Table anon$$obj.o + 0x08008288 0x08008288 0x0000002a Code RO 2311 .text.spl06_get_pressure_adc spl06_1.o + 0x080082b2 0x080082b2 0x00000002 PAD + 0x080082b4 0x080082b4 0x0000002a Code RO 2313 .text.spl06_get_temperature_adc spl06_1.o + 0x080082de 0x080082de 0x00000002 PAD + 0x080082e0 0x080082e0 0x0000003a Code RO 2303 .text.spl06_read_reg spl06_1.o + 0x0800831a 0x0800831a 0x00000002 PAD + 0x0800831c 0x0800831c 0x0000000c Code RO 2305 .text.spl06_start spl06_1.o + 0x08008328 0x08008328 0x00000042 Code RO 2301 .text.spl06_write_reg spl06_1.o + 0x0800836a 0x0800836a 0x00000002 PAD + 0x0800836c 0x0800836c 0x00000024 Code RO 1465 .text.uxListRemove list.o + 0x08008390 0x08008390 0x0000001a Code RO 2006 .text.vApplicationGetIdleTaskMemory cmsis_os2.o + 0x080083aa 0x080083aa 0x00000002 PAD + 0x080083ac 0x080083ac 0x0000001c Code RO 2008 .text.vApplicationGetTimerTaskMemory cmsis_os2.o + 0x080083c8 0x080083c8 0x00000002 Code RO 34 .text.vApplicationStackOverflowHook freertos.o + 0x080083ca 0x080083ca 0x00000002 PAD + 0x080083cc 0x080083cc 0x00000016 Code RO 1457 .text.vListInitialise list.o + 0x080083e2 0x080083e2 0x00000002 PAD + 0x080083e4 0x080083e4 0x00000006 Code RO 1459 .text.vListInitialiseItem list.o + 0x080083ea 0x080083ea 0x00000002 PAD + 0x080083ec 0x080083ec 0x0000003a Code RO 1463 .text.vListInsert list.o + 0x08008426 0x08008426 0x00000002 PAD + 0x08008428 0x08008428 0x0000001c Code RO 1461 .text.vListInsertEnd list.o + 0x08008444 0x08008444 0x00000014 Code RO 2068 .text.vPortEnableVFP port.o + 0x08008458 0x08008458 0x00000046 Code RO 2074 .text.vPortEnterCritical port.o + 0x0800849e 0x0800849e 0x00000002 PAD + 0x080084a0 0x080084a0 0x0000002e Code RO 2076 .text.vPortExitCritical port.o + 0x080084ce 0x080084ce 0x00000002 PAD + 0x080084d0 0x080084d0 0x0000008a Code RO 2032 .text.vPortFree heap_4.o + 0x0800855a 0x0800855a 0x00000002 PAD + 0x0800855c 0x0800855c 0x00000034 Code RO 2066 .text.vPortSetupTimerInterrupt port.o + 0x08008590 0x08008590 0x00000062 Code RO 2082 .text.vPortValidateInterruptPriority port.o + 0x080085f2 0x080085f2 0x00000002 PAD + 0x080085f4 0x080085f4 0x00000028 Code RO 1549 .text.vQueueAddToRegistry queue.o + 0x0800861c 0x0800861c 0x00000044 Code RO 1553 .text.vQueueWaitForMessageRestricted queue.o + 0x08008660 0x08008660 0x00000054 Code RO 1644 .text.vTaskDelay tasks.o + 0x080086b4 0x080086b4 0x000000a8 Code RO 1636 .text.vTaskDelayUntil tasks.o + 0x0800875c 0x0800875c 0x000000c2 Code RO 1630 .text.vTaskDelete tasks.o + 0x0800881e 0x0800881e 0x00000002 PAD + 0x08008820 0x08008820 0x0000001a Code RO 1698 .text.vTaskInternalSetTimeOutState tasks.o + 0x0800883a 0x0800883a 0x00000002 PAD + 0x0800883c 0x0800883c 0x0000000e Code RO 1702 .text.vTaskMissedYield tasks.o + 0x0800884a 0x0800884a 0x00000002 PAD + 0x0800884c 0x0800884c 0x00000032 Code RO 1686 .text.vTaskPlaceOnEventList tasks.o + 0x0800887e 0x0800887e 0x00000002 PAD + 0x08008880 0x08008880 0x0000003e Code RO 1690 .text.vTaskPlaceOnEventListRestricted tasks.o + 0x080088be 0x080088be 0x00000002 PAD + 0x080088c0 0x080088c0 0x000000a4 Code RO 1664 .text.vTaskStartScheduler tasks.o + 0x08008964 0x08008964 0x00000010 Code RO 1638 .text.vTaskSuspendAll tasks.o + 0x08008974 0x08008974 0x000000ca Code RO 1656 .text.vTaskSwitchContext tasks.o + 0x08008a3e 0x08008a3e 0x00000002 PAD + 0x08008a40 0x08008a40 0x00000112 Code RO 2064 .text.xPortStartScheduler port.o + 0x08008b52 0x08008b52 0x00000002 PAD + 0x08008b54 0x08008b54 0x0000002e Code RO 2080 .text.xPortSysTickHandler port.o + 0x08008b82 0x08008b82 0x00000002 PAD + 0x08008b84 0x08008b84 0x00000046 Code RO 1481 .text.xQueueGenericCreate queue.o + 0x08008bca 0x08008bca 0x00000002 PAD + 0x08008bcc 0x08008bcc 0x00000096 Code RO 1477 .text.xQueueGenericCreateStatic queue.o + 0x08008c62 0x08008c62 0x00000002 PAD + 0x08008c64 0x08008c64 0x0000007e Code RO 1475 .text.xQueueGenericReset queue.o + 0x08008ce2 0x08008ce2 0x00000002 PAD + 0x08008ce4 0x08008ce4 0x000001a2 Code RO 1495 .text.xQueueGenericSend queue.o + 0x08008e86 0x08008e86 0x00000002 PAD + 0x08008e88 0x08008e88 0x000000ce Code RO 1511 .text.xQueueGenericSendFromISR queue.o + 0x08008f56 0x08008f56 0x00000002 PAD + 0x08008f58 0x08008f58 0x00000184 Code RO 1515 .text.xQueueReceive queue.o + 0x080090dc 0x080090dc 0x000000aa Code RO 1525 .text.xQueueReceiveFromISR queue.o + 0x08009186 0x08009186 0x00000002 PAD + 0x08009188 0x08009188 0x00000088 Code RO 1700 .text.xTaskCheckForTimeOut tasks.o + 0x08009210 0x08009210 0x00000066 Code RO 1628 .text.xTaskCreate tasks.o + 0x08009276 0x08009276 0x00000002 PAD + 0x08009278 0x08009278 0x00000076 Code RO 1622 .text.xTaskCreateStatic tasks.o + 0x080092ee 0x080092ee 0x00000002 PAD + 0x080092f0 0x080092f0 0x000000fc Code RO 1732 .text.xTaskGenericNotify tasks.o + 0x080093ec 0x080093ec 0x0000012a Code RO 1734 .text.xTaskGenericNotifyFromISR tasks.o + 0x08009516 0x08009516 0x00000002 PAD + 0x08009518 0x08009518 0x0000000c Code RO 1714 .text.xTaskGetCurrentTaskHandle tasks.o + 0x08009524 0x08009524 0x00000026 Code RO 1716 .text.xTaskGetSchedulerState tasks.o + 0x0800954a 0x0800954a 0x00000002 PAD + 0x0800954c 0x0800954c 0x0000000c Code RO 1672 .text.xTaskGetTickCount tasks.o + 0x08009558 0x08009558 0x00000012 Code RO 1674 .text.xTaskGetTickCountFromISR tasks.o + 0x0800956a 0x0800956a 0x00000002 PAD + 0x0800956c 0x0800956c 0x00000152 Code RO 1670 .text.xTaskIncrementTick tasks.o + 0x080096be 0x080096be 0x00000002 PAD + 0x080096c0 0x080096c0 0x00000090 Code RO 1730 .text.xTaskNotifyWait tasks.o + 0x08009750 0x08009750 0x00000092 Code RO 1720 .text.xTaskPriorityDisinherit tasks.o + 0x080097e2 0x080097e2 0x00000002 PAD + 0x080097e4 0x080097e4 0x0000008e Code RO 1692 .text.xTaskRemoveFromEventList tasks.o + 0x08009872 0x08009872 0x00000002 PAD + 0x08009874 0x08009874 0x00000114 Code RO 1642 .text.xTaskResumeAll tasks.o + 0x08009988 0x08009988 0x00000074 Code RO 1775 .text.xTimerCreateTimerTask timers.o + 0x080099fc 0x080099fc 0x00000068 Code RO 1787 .text.xTimerGenericCommand timers.o + 0x08009a64 0x08009a64 0x00000030 Code RO 2987 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x08009a94 0x08009a94 0x00000026 Code RO 2989 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x08009aba 0x08009aba 0x00000002 PAD + 0x08009abc 0x08009abc 0x0000012c Code RO 2880 i.__hardfp_asinf m_wm.l(asinf.o) + 0x08009be8 0x08009be8 0x000002d8 Code RO 2960 i.__hardfp_atan m_wm.l(atan.o) + 0x08009ec0 0x08009ec0 0x00000200 Code RO 2886 i.__hardfp_atan2 m_wm.l(atan2.o) + 0x0800a0c0 0x0800a0c0 0x000002ac Code RO 2892 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x0800a36c 0x0800a36c 0x00000004 PAD + 0x0800a370 0x0800a370 0x00000c60 Code RO 2904 i.__hardfp_pow m_wm.l(pow.o) + 0x0800afd0 0x0800afd0 0x00000190 Code RO 2911 i.__hardfp_sinf m_wm.l(sinf.o) + 0x0800b160 0x0800b160 0x0000017c Code RO 2917 i.__hardfp_tanf m_wm.l(tanf.o) + 0x0800b2dc 0x0800b2dc 0x000000f8 Code RO 3005 i.__kernel_poly m_wm.l(poly.o) + 0x0800b3d4 0x0800b3d4 0x00000004 PAD + 0x0800b3d8 0x0800b3d8 0x00000030 Code RO 2967 i.__mathlib_dbl_divzero m_wm.l(dunder.o) + 0x0800b408 0x0800b408 0x00000014 Code RO 2968 i.__mathlib_dbl_infnan m_wm.l(dunder.o) + 0x0800b41c 0x0800b41c 0x00000014 Code RO 2969 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o) + 0x0800b430 0x0800b430 0x00000020 Code RO 2970 i.__mathlib_dbl_invalid m_wm.l(dunder.o) + 0x0800b450 0x0800b450 0x00000020 Code RO 2971 i.__mathlib_dbl_overflow m_wm.l(dunder.o) + 0x0800b470 0x0800b470 0x00000020 Code RO 2973 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x0800b490 0x0800b490 0x00000006 Code RO 2992 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x0800b496 0x0800b496 0x00000006 Code RO 2993 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x0800b49c 0x0800b49c 0x00000010 Code RO 2994 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x0800b4ac 0x0800b4ac 0x00000010 Code RO 2997 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x0800b4bc 0x0800b4bc 0x00000154 Code RO 3008 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x0800b610 0x0800b610 0x00000010 Code RO 2962 i.atan m_wm.l(atan.o) + 0x0800b620 0x0800b620 0x00000018 Code RO 2983 i.fabs m_wm.l(fabs.o) + 0x0800b638 0x0800b638 0x0000006e Code RO 3013 i.sqrt m_wm.l(sqrt.o) + 0x0800b6a6 0x0800b6a6 0x0000003e Code RO 3019 i.sqrtf m_wm.l(sqrtf.o) + 0x0800b6e4 0x0800b6e4 0x00000018 Code RO 2943 x$fpl$basic fz_wm.l(basic.o) + 0x0800b6fc 0x0800b6fc 0x00000062 Code RO 2838 x$fpl$d2f fz_wm.l(d2f.o) + 0x0800b75e 0x0800b75e 0x00000002 PAD + 0x0800b760 0x0800b760 0x00000150 Code RO 2840 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x0800b8b0 0x0800b8b0 0x00000010 Code RO 3086 x$fpl$dcheck1 fz_wm.l(dcheck1.o) + 0x0800b8c0 0x0800b8c0 0x00000018 Code RO 3088 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x0800b8d8 0x0800b8d8 0x000002b4 Code RO 2847 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x0800bb8c 0x0800bb8c 0x00000078 Code RO 2945 x$fpl$deqf fz_wm.l(deqf.o) + 0x0800bc04 0x0800bc04 0x0000005e Code RO 2850 x$fpl$dfix fz_wm.l(dfix.o) + 0x0800bc62 0x0800bc62 0x00000002 PAD + 0x0800bc64 0x0800bc64 0x0000005a Code RO 2854 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x0800bcbe 0x0800bcbe 0x0000002e Code RO 2859 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x0800bcec 0x0800bcec 0x00000026 Code RO 2858 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x0800bd12 0x0800bd12 0x00000002 PAD + 0x0800bd14 0x0800bd14 0x00000078 Code RO 3090 x$fpl$dleqf fz_wm.l(dleqf.o) + 0x0800bd8c 0x0800bd8c 0x00000154 Code RO 2864 x$fpl$dmul fz_wm.l(dmul.o) + 0x0800bee0 0x0800bee0 0x0000009c Code RO 2947 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x0800bf7c 0x0800bf7c 0x0000000c Code RO 2949 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x0800bf88 0x0800bf88 0x0000006c Code RO 2951 x$fpl$drleqf fz_wm.l(drleqf.o) + 0x0800bff4 0x0800bff4 0x00000016 Code RO 2841 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x0800c00a 0x0800c00a 0x00000002 PAD + 0x0800c00c 0x0800c00c 0x00000198 Code RO 3092 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) + 0x0800c1a4 0x0800c1a4 0x000001dc Code RO 2842 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x0800c380 0x0800c380 0x00000056 Code RO 2866 x$fpl$f2d fz_wm.l(f2d.o) + 0x0800c3d6 0x0800c3d6 0x00000060 Code RO 2876 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x0800c436 0x0800c436 0x0000008c Code RO 2953 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x0800c4c2 0x0800c4c2 0x0000001a Code RO 3176 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x0800c4dc 0x0800c4dc 0x0000000a Code RO 2955 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x0800c4e6 0x0800c4e6 0x00000002 PAD + 0x0800c4e8 0x0800c4e8 0x00000086 Code RO 2868 x$fpl$llsfromf fz_wm.l(ffixll.o) + 0x0800c56e 0x0800c56e 0x00000002 PAD + 0x0800c570 0x0800c570 0x0000005c Code RO 2872 x$fpl$llufromf fz_wm.l(ffixull.o) + 0x0800c5cc 0x0800c5cc 0x00000064 Code RO 3162 x$fpl$retnan fz_wm.l(retnan.o) + 0x0800c630 0x0800c630 0x0000005c Code RO 2957 x$fpl$scalbn fz_wm.l(scalbn.o) + 0x0800c68c 0x0800c68c 0x00000030 Code RO 3178 x$fpl$trapveneer fz_wm.l(trapv.o) + 0x0800c6bc 0x0800c6bc 0x00000000 Code RO 2959 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x0800c6bc 0x0800c6bc 0x00000004 PAD + 0x0800c6c0 0x0800c6c0 0x00000088 Data RO 2907 .constdata m_wm.l(pow.o) + 0x0800c748 0x0800c748 0x00000098 Data RO 2963 .constdata m_wm.l(atan.o) + 0x0800c7e0 0x0800c7e0 0x00000008 Data RO 3007 .constdata m_wm.l(qnan.o) + 0x0800c7e8 0x0800c7e8 0x00000020 Data RO 3009 .constdata m_wm.l(rredf.o) + 0x0800c808 0x0800c808 0x00000010 Data RO 1408 .rodata.AHBPrescTable system_stm32f4xx.o + 0x0800c818 0x0800c818 0x00000008 Data RO 1409 .rodata.APBPrescTable system_stm32f4xx.o + 0x0800c820 0x0800c820 0x00000030 Data RO 2110 .rodata.GPIO_Map gpio_1.o + 0x0800c850 0x0800c850 0x00000048 Data RO 2194 .rodata.PWM_Map pwm.o + 0x0800c898 0x0800c898 0x00000024 Data RO 2708 .rodata.attr_atti_esti user_task.o + 0x0800c8bc 0x0800c8bc 0x00000024 Data RO 2709 .rodata.attr_blink user_task.o + 0x0800c8e0 0x0800c8e0 0x00000024 Data RO 2712 .rodata.attr_cmd user_task.o + 0x0800c904 0x0800c904 0x00000024 Data RO 2710 .rodata.attr_height_cal user_task.o + 0x0800c928 0x0800c928 0x00000024 Data RO 2707 .rodata.attr_init user_task.o + 0x0800c94c 0x0800c94c 0x00000024 Data RO 2711 .rodata.attr_quad_ctrl user_task.o + 0x0800c970 0x0800c970 0x00000024 Data RO 41 .rodata.defaultTask_attributes freertos.o + 0x0800c994 0x0800c994 0x00000020 Data RO 2748 .rodata.imu_temp_ctrl_pid_param atti_esti.o + 0x0800c9b4 0x0800c9b4 0x0000000c Data RO 40 .rodata.str1.1 freertos.o + 0x0800c9c0 0x0800c9c0 0x00000033 Data RO 2706 .rodata.str1.1 user_task.o + 0x0800c9f3 0x0800c9f3 0x00000001 PAD + 0x0800c9f4 0x0800c9f4 0x00000020 Data RO 3254 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800c098, Size: 0x00007d50, Max: 0x0001c000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800ca18, Size: 0x000082c8, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000078]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x0800c098 0x00000004 Data RW 1407 .data.SystemCoreClock system_stm32f4xx.o - 0x20000004 0x0800c09c 0x00000004 Data RW 2517 .data.beta ahrs.o - 0x20000008 0x0800c0a0 0x0000000c Data RW 2691 .data.cali_bmi088 atti_esti.o - 0x20000014 0x0800c0ac 0x00000001 Data RW 606 .data.uwTickFreq stm32f4xx_hal.o - 0x20000015 0x0800c0ad 0x00000003 PAD - 0x20000018 0x0800c0b0 0x00000004 Data RW 605 .data.uwTickPrio stm32f4xx_hal.o - 0x2000001c 0x0800c0b4 0x00000004 Data RW 2086 .data.uxCriticalNesting port.o - 0x20000020 - 0x00000060 Zero RW 3081 .bss c_w.l(libspace.o) - 0x20000080 - 0x00000040 Zero RW 2109 .bss.GPIO_Callback gpio_1.o - 0x200000c0 - 0x00000004 Zero RW 2680 .bss.HeightEstimation_dt heightestimation.o - 0x200000c4 0x0800c0b8 0x00000004 PAD - 0x200000c8 - 0x00000008 Zero RW 2679 .bss.HeightEstimation_last heightestimation.o - 0x200000d0 - 0x00000008 Zero RW 2678 .bss.HeightEstimation_now heightestimation.o - 0x200000d8 - 0x00000004 Zero RW 2012 .bss.KernelState cmsis_os2.o - 0x200000dc - 0x00000020 Zero RW 2239 .bss.SPI_Callback spi_1.o - 0x200000fc - 0x00000048 Zero RW 2292 .bss.UART_Callback uart.o - 0x20000144 - 0x00000004 Zero RW 2676 .bss.accl_z_WithoutGravity heightestimation.o - 0x20000148 - 0x00000004 Zero RW 2708 .bss.accl_z_buffer height_cal.o - 0x2000014c - 0x00000020 Zero RW 2673 .bss.accl_z_filter heightestimation.o - 0x2000016c - 0x00000004 Zero RW 2674 .bss.accl_z_filtered heightestimation.o - 0x20000170 - 0x00000004 Zero RW 2698 .bss.accl_z_for_heightestimation atti_esti.o - 0x20000174 - 0x00000024 Zero RW 2677 .bss.alt_kf heightestimation.o - 0x20000198 - 0x0000002c Zero RW 2760 .bss.at9s rc.o - 0x200001c4 0x0800c0b8 0x00000004 PAD - 0x200001c8 - 0x00000030 Zero RW 2692 .bss.bmi088 atti_esti.o - 0x200001f8 - 0x00000013 Zero RW 2403 .bss.bmi088_rxbuf bmi088.o - 0x2000020b - 0x00000002 Zero RW 2404 .bss.buffer bmi088.o - 0x2000020d - 0x00000019 Zero RW 2761 .bss.cmd_buffer rc.o - 0x20000226 0x0800c0b8 0x00000002 PAD - 0x20000228 - 0x00000004 Zero RW 42 .bss.defaultTaskHandle freertos.o - 0x2000022c - 0x00000004 Zero RW 2709 .bss.estimated_height height_cal.o - 0x20000230 - 0x00000004 Zero RW 2710 .bss.estimated_velocity height_cal.o - 0x20000234 - 0x0000000c Zero RW 2697 .bss.eulr_to_send atti_esti.o - 0x20000240 - 0x00000014 Zero RW 2693 .bss.gimbal_ahrs atti_esti.o - 0x20000254 - 0x00000004 Zero RW 2675 .bss.gravity heightestimation.o - 0x20000258 - 0x00000060 Zero RW 66 .bss.hdma_i2c3_rx i2c.o - 0x200002b8 - 0x00000060 Zero RW 82 .bss.hdma_spi1_rx spi.o - 0x20000318 - 0x00000060 Zero RW 83 .bss.hdma_spi1_tx spi.o - 0x20000378 - 0x00000060 Zero RW 132 .bss.hdma_usart3_rx usart.o - 0x200003d8 - 0x00000060 Zero RW 133 .bss.hdma_usart6_rx usart.o - 0x20000438 - 0x00000060 Zero RW 134 .bss.hdma_usart6_tx usart.o - 0x20000498 - 0x00000004 Zero RW 2668 .bss.height heightestimation.o - 0x2000049c - 0x00000054 Zero RW 65 .bss.hi2c3 i2c.o - 0x200004f0 - 0x00000058 Zero RW 81 .bss.hspi1 spi.o - 0x20000548 - 0x00000048 Zero RW 110 .bss.htim1 tim.o - 0x20000590 - 0x00000048 Zero RW 113 .bss.htim10 tim.o - 0x200005d8 - 0x00000048 Zero RW 111 .bss.htim4 tim.o - 0x20000620 - 0x00000048 Zero RW 112 .bss.htim5 tim.o - 0x20000668 - 0x00000048 Zero RW 130 .bss.huart3 usart.o - 0x200006b0 - 0x00000048 Zero RW 131 .bss.huart6 usart.o - 0x200006f8 - 0x0000003c Zero RW 2695 .bss.imu_temp_ctrl_pid atti_esti.o - 0x20000734 - 0x00000001 Zero RW 2401 .bss.inited bmi088.o - 0x20000735 - 0x00000001 Zero RW 2494 .bss.inited at9s_pro.o - 0x20000736 0x0800c0b8 0x00000002 PAD - 0x20000738 - 0x00000004 Zero RW 2669 .bss.initial_height heightestimation.o - 0x2000073c - 0x00000002 Zero RW 2665 .bss.initializeCounter heightestimation.o - 0x2000073e 0x0800c0b8 0x00000002 PAD - 0x20000740 - 0x0000000c Zero RW 2694 .bss.magn atti_esti.o - 0x2000074c - 0x00000004 Zero RW 2666 .bss.pressure heightestimation.o - 0x20000750 - 0x000000a0 Zero RW 1837 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x200007f0 - 0x00000050 Zero RW 1836 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x20000840 - 0x00000004 Zero RW 1833 .bss.prvSampleTimeNow.xLastTime timers.o - 0x20000844 - 0x00000004 Zero RW 1746 .bss.pxCurrentTCB tasks.o - 0x20000848 - 0x00000004 Zero RW 1831 .bss.pxCurrentTimerList timers.o - 0x2000084c - 0x00000004 Zero RW 1754 .bss.pxDelayedTaskList tasks.o - 0x20000850 - 0x00000004 Zero RW 2042 .bss.pxEnd heap_4.o - 0x20000854 - 0x00000004 Zero RW 1755 .bss.pxOverflowDelayedTaskList tasks.o - 0x20000858 - 0x00000004 Zero RW 1832 .bss.pxOverflowTimerList timers.o - 0x2000085c - 0x00000460 Zero RW 1757 .bss.pxReadyTasksLists tasks.o - 0x20000cbc - 0x00000018 Zero RW 2496 .bss.r at9s_pro.o - 0x20000cd4 - 0x00000028 Zero RW 2762 .bss.rc_cmd rc.o - 0x20000cfc - 0x00000004 Zero RW 2670 .bss.relative_height heightestimation.o - 0x20000d00 - 0x00000020 Zero RW 2671 .bss.relative_height_filter heightestimation.o - 0x20000d20 - 0x00000004 Zero RW 2672 .bss.relative_height_filtered heightestimation.o - 0x20000d24 - 0x00000014 Zero RW 2333 .bss.spl06 spl06_1.o - 0x20000d38 - 0x00000018 Zero RW 2334 .bss.spl06_calib_param spl06_1.o - 0x20000d50 - 0x00000064 Zero RW 2743 .bss.task_runtime user_task.o - 0x20000db4 - 0x00000004 Zero RW 2667 .bss.temperature heightestimation.o - 0x20000db8 - 0x00000004 Zero RW 2402 .bss.thread_alert bmi088.o - 0x20000dbc - 0x00000004 Zero RW 2495 .bss.thread_alert at9s_pro.o - 0x20000dc0 - 0x000061a8 Zero RW 2049 .bss.ucHeap heap_4.o - 0x20006f68 - 0x00000001 Zero RW 2084 .bss.ucMaxSysCallPriority port.o - 0x20006f69 0x0800c0b8 0x00000003 PAD - 0x20006f6c - 0x00000004 Zero RW 2085 .bss.ulMaxPRIGROUPValue port.o - 0x20006f70 - 0x00000004 Zero RW 607 .bss.uwTick stm32f4xx_hal.o - 0x20006f74 - 0x00000004 Zero RW 1750 .bss.uxCurrentNumberOfTasks tasks.o - 0x20006f78 - 0x00000004 Zero RW 1749 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x20006f7c - 0x00000004 Zero RW 1752 .bss.uxSchedulerSuspended tasks.o - 0x20006f80 - 0x00000004 Zero RW 1747 .bss.uxTaskNumber tasks.o - 0x20006f84 - 0x00000004 Zero RW 1758 .bss.uxTopReadyPriority tasks.o - 0x20006f88 - 0x00000200 Zero RW 2015 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x20007188 - 0x0000005c Zero RW 2014 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x200071e4 - 0x00000400 Zero RW 2017 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x200075e4 - 0x0000005c Zero RW 2016 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x20007640 - 0x00000014 Zero RW 1834 .bss.xActiveTimerList1 timers.o - 0x20007654 - 0x00000014 Zero RW 1835 .bss.xActiveTimerList2 timers.o - 0x20007668 - 0x00000001 Zero RW 2043 .bss.xBlockAllocatedBit heap_4.o - 0x20007669 0x0800c0b8 0x00000003 PAD - 0x2000766c - 0x00000014 Zero RW 1765 .bss.xDelayedTaskList1 tasks.o - 0x20007680 - 0x00000014 Zero RW 1766 .bss.xDelayedTaskList2 tasks.o - 0x20007694 - 0x00000004 Zero RW 2044 .bss.xFreeBytesRemaining heap_4.o - 0x20007698 - 0x00000004 Zero RW 1760 .bss.xIdleTaskHandle tasks.o - 0x2000769c - 0x00000004 Zero RW 2046 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x200076a0 - 0x00000004 Zero RW 1761 .bss.xNextTaskUnblockTime tasks.o - 0x200076a4 - 0x00000004 Zero RW 1764 .bss.xNumOfOverflows tasks.o - 0x200076a8 - 0x00000004 Zero RW 2047 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x200076ac - 0x00000004 Zero RW 2048 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x200076b0 - 0x00000004 Zero RW 1763 .bss.xPendedTicks tasks.o - 0x200076b4 - 0x00000014 Zero RW 1759 .bss.xPendingReadyList tasks.o - 0x200076c8 - 0x00000040 Zero RW 1555 .bss.xQueueRegistry queue.o - 0x20007708 - 0x00000004 Zero RW 1751 .bss.xSchedulerRunning tasks.o - 0x2000770c - 0x00000008 Zero RW 2045 .bss.xStart heap_4.o - 0x20007714 - 0x00000014 Zero RW 1756 .bss.xSuspendedTaskList tasks.o - 0x20007728 - 0x00000014 Zero RW 1748 .bss.xTasksWaitingTermination tasks.o - 0x2000773c - 0x00000004 Zero RW 1753 .bss.xTickCount tasks.o - 0x20007740 - 0x00000004 Zero RW 1829 .bss.xTimerQueue timers.o - 0x20007744 - 0x00000004 Zero RW 1830 .bss.xTimerTaskHandle timers.o - 0x20007748 - 0x00000004 Zero RW 1762 .bss.xYieldPending tasks.o - 0x2000774c 0x0800c0b8 0x00000004 PAD - 0x20007750 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x20007950 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000000 COMPRESSED 0x00000004 Data RW 1407 .data.SystemCoreClock system_stm32f4xx.o + 0x20000004 COMPRESSED 0x00000004 Data RW 2517 .data.beta ahrs.o + 0x20000008 COMPRESSED 0x0000000c Data RW 2743 .data.cali_bmi088 atti_esti.o + 0x20000014 COMPRESSED 0x00000120 Data RW 2610 .data.robot_config config.o + 0x20000134 COMPRESSED 0x00000001 Data RW 606 .data.uwTickFreq stm32f4xx_hal.o + 0x20000135 COMPRESSED 0x00000003 PAD + 0x20000138 COMPRESSED 0x00000004 Data RW 605 .data.uwTickPrio stm32f4xx_hal.o + 0x2000013c COMPRESSED 0x00000004 Data RW 2086 .data.uxCriticalNesting port.o + 0x20000140 - 0x00000060 Zero RW 3097 .bss c_w.l(libspace.o) + 0x200001a0 - 0x00000040 Zero RW 2109 .bss.GPIO_Callback gpio_1.o + 0x200001e0 - 0x00000004 Zero RW 2688 .bss.HeightEstimation_dt heightestimation.o + 0x200001e4 COMPRESSED 0x00000004 PAD + 0x200001e8 - 0x00000008 Zero RW 2687 .bss.HeightEstimation_last heightestimation.o + 0x200001f0 - 0x00000008 Zero RW 2686 .bss.HeightEstimation_now heightestimation.o + 0x200001f8 - 0x00000004 Zero RW 2012 .bss.KernelState cmsis_os2.o + 0x200001fc - 0x00000001 Zero RW 2658 .bss.Quad_Ctrl.cnt_1ms xm_quadctrl.o + 0x200001fd COMPRESSED 0x00000003 PAD + 0x20000200 - 0x00000020 Zero RW 2239 .bss.SPI_Callback spi_1.o + 0x20000220 - 0x00000048 Zero RW 2292 .bss.UART_Callback uart.o + 0x20000268 - 0x00000004 Zero RW 2684 .bss.accl_z_WithoutGravity heightestimation.o + 0x2000026c - 0x00000004 Zero RW 2761 .bss.accl_z_buffer height_cal.o + 0x20000270 - 0x00000020 Zero RW 2681 .bss.accl_z_filter heightestimation.o + 0x20000290 - 0x00000004 Zero RW 2682 .bss.accl_z_filtered heightestimation.o + 0x20000294 - 0x00000004 Zero RW 2750 .bss.accl_z_for_heightestimation atti_esti.o + 0x20000298 - 0x00000024 Zero RW 2685 .bss.alt_kf heightestimation.o + 0x200002bc - 0x0000002c Zero RW 2730 .bss.at9s cmd_1.o + 0x200002e8 - 0x00000030 Zero RW 2744 .bss.bmi088 atti_esti.o + 0x20000318 - 0x00000013 Zero RW 2403 .bss.bmi088_rxbuf bmi088.o + 0x2000032b - 0x00000002 Zero RW 2404 .bss.buffer bmi088.o + 0x2000032d - 0x00000019 Zero RW 2731 .bss.cmd_buffer cmd_1.o + 0x20000346 COMPRESSED 0x00000002 PAD + 0x20000348 - 0x00000014 Zero RW 2733 .bss.cmd_for_quad cmd_1.o + 0x2000035c - 0x00000004 Zero RW 42 .bss.defaultTaskHandle freertos.o + 0x20000360 - 0x00000004 Zero RW 2762 .bss.estimated_height height_cal.o + 0x20000364 - 0x00000004 Zero RW 2763 .bss.estimated_velocity height_cal.o + 0x20000368 - 0x0000000c Zero RW 2751 .bss.eulr_for_quad atti_esti.o + 0x20000374 - 0x0000000c Zero RW 2749 .bss.eulr_to_send atti_esti.o + 0x20000380 - 0x00000014 Zero RW 2745 .bss.gimbal_ahrs atti_esti.o + 0x20000394 - 0x00000004 Zero RW 2683 .bss.gravity heightestimation.o + 0x20000398 - 0x00000060 Zero RW 66 .bss.hdma_i2c3_rx i2c.o + 0x200003f8 - 0x00000060 Zero RW 82 .bss.hdma_spi1_rx spi.o + 0x20000458 - 0x00000060 Zero RW 83 .bss.hdma_spi1_tx spi.o + 0x200004b8 - 0x00000060 Zero RW 132 .bss.hdma_usart3_rx usart.o + 0x20000518 - 0x00000060 Zero RW 133 .bss.hdma_usart6_rx usart.o + 0x20000578 - 0x00000060 Zero RW 134 .bss.hdma_usart6_tx usart.o + 0x200005d8 - 0x00000004 Zero RW 2676 .bss.height heightestimation.o + 0x200005dc - 0x00000054 Zero RW 65 .bss.hi2c3 i2c.o + 0x20000630 - 0x00000058 Zero RW 81 .bss.hspi1 spi.o + 0x20000688 - 0x00000048 Zero RW 110 .bss.htim1 tim.o + 0x200006d0 - 0x00000048 Zero RW 113 .bss.htim10 tim.o + 0x20000718 - 0x00000048 Zero RW 111 .bss.htim4 tim.o + 0x20000760 - 0x00000048 Zero RW 112 .bss.htim5 tim.o + 0x200007a8 - 0x00000048 Zero RW 130 .bss.huart3 usart.o + 0x200007f0 - 0x00000048 Zero RW 131 .bss.huart6 usart.o + 0x20000838 - 0x0000003c Zero RW 2747 .bss.imu_temp_ctrl_pid atti_esti.o + 0x20000874 - 0x00000001 Zero RW 2401 .bss.inited bmi088.o + 0x20000875 - 0x00000001 Zero RW 2494 .bss.inited at9s_pro.o + 0x20000876 COMPRESSED 0x00000002 PAD + 0x20000878 - 0x00000004 Zero RW 2677 .bss.initial_height heightestimation.o + 0x2000087c - 0x00000002 Zero RW 2673 .bss.initializeCounter heightestimation.o + 0x2000087e COMPRESSED 0x00000002 PAD + 0x20000880 - 0x0000000c Zero RW 2746 .bss.magn atti_esti.o + 0x2000088c - 0x00000004 Zero RW 2674 .bss.pressure heightestimation.o + 0x20000890 - 0x000000a0 Zero RW 1837 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x20000930 - 0x00000050 Zero RW 1836 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x20000980 - 0x00000004 Zero RW 1833 .bss.prvSampleTimeNow.xLastTime timers.o + 0x20000984 - 0x00000004 Zero RW 1746 .bss.pxCurrentTCB tasks.o + 0x20000988 - 0x00000004 Zero RW 1831 .bss.pxCurrentTimerList timers.o + 0x2000098c - 0x00000004 Zero RW 1754 .bss.pxDelayedTaskList tasks.o + 0x20000990 - 0x00000004 Zero RW 2042 .bss.pxEnd heap_4.o + 0x20000994 - 0x00000004 Zero RW 1755 .bss.pxOverflowDelayedTaskList tasks.o + 0x20000998 - 0x00000004 Zero RW 1832 .bss.pxOverflowTimerList timers.o + 0x2000099c - 0x00000460 Zero RW 1757 .bss.pxReadyTasksLists tasks.o + 0x20000dfc COMPRESSED 0x00000004 PAD + 0x20000e00 - 0x00000428 Zero RW 2773 .bss.q quad_ctrl.o + 0x20001228 - 0x00000014 Zero RW 2774 .bss.quad_cmd quad_ctrl.o + 0x2000123c - 0x00000018 Zero RW 2496 .bss.r at9s_pro.o + 0x20001254 - 0x00000014 Zero RW 2732 .bss.rc_cmd cmd_1.o + 0x20001268 - 0x00000004 Zero RW 2678 .bss.relative_height heightestimation.o + 0x2000126c - 0x00000020 Zero RW 2679 .bss.relative_height_filter heightestimation.o + 0x2000128c - 0x00000004 Zero RW 2680 .bss.relative_height_filtered heightestimation.o + 0x20001290 - 0x00000014 Zero RW 2333 .bss.spl06 spl06_1.o + 0x200012a4 - 0x00000018 Zero RW 2334 .bss.spl06_calib_param spl06_1.o + 0x200012bc - 0x00000074 Zero RW 2713 .bss.task_runtime user_task.o + 0x20001330 - 0x00000004 Zero RW 2675 .bss.temperature heightestimation.o + 0x20001334 - 0x00000004 Zero RW 2402 .bss.thread_alert bmi088.o + 0x20001338 - 0x00000004 Zero RW 2495 .bss.thread_alert at9s_pro.o + 0x2000133c - 0x000061a8 Zero RW 2049 .bss.ucHeap heap_4.o + 0x200074e4 - 0x00000001 Zero RW 2084 .bss.ucMaxSysCallPriority port.o + 0x200074e5 COMPRESSED 0x00000003 PAD + 0x200074e8 - 0x00000004 Zero RW 2085 .bss.ulMaxPRIGROUPValue port.o + 0x200074ec - 0x00000004 Zero RW 607 .bss.uwTick stm32f4xx_hal.o + 0x200074f0 - 0x00000004 Zero RW 1750 .bss.uxCurrentNumberOfTasks tasks.o + 0x200074f4 - 0x00000004 Zero RW 1749 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x200074f8 - 0x00000004 Zero RW 1752 .bss.uxSchedulerSuspended tasks.o + 0x200074fc - 0x00000004 Zero RW 1747 .bss.uxTaskNumber tasks.o + 0x20007500 - 0x00000004 Zero RW 1758 .bss.uxTopReadyPriority tasks.o + 0x20007504 - 0x00000200 Zero RW 2015 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x20007704 - 0x0000005c Zero RW 2014 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20007760 - 0x00000400 Zero RW 2017 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20007b60 - 0x0000005c Zero RW 2016 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x20007bbc - 0x00000014 Zero RW 1834 .bss.xActiveTimerList1 timers.o + 0x20007bd0 - 0x00000014 Zero RW 1835 .bss.xActiveTimerList2 timers.o + 0x20007be4 - 0x00000001 Zero RW 2043 .bss.xBlockAllocatedBit heap_4.o + 0x20007be5 COMPRESSED 0x00000003 PAD + 0x20007be8 - 0x00000014 Zero RW 1765 .bss.xDelayedTaskList1 tasks.o + 0x20007bfc - 0x00000014 Zero RW 1766 .bss.xDelayedTaskList2 tasks.o + 0x20007c10 - 0x00000004 Zero RW 2044 .bss.xFreeBytesRemaining heap_4.o + 0x20007c14 - 0x00000004 Zero RW 1760 .bss.xIdleTaskHandle tasks.o + 0x20007c18 - 0x00000004 Zero RW 2046 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x20007c1c - 0x00000004 Zero RW 1761 .bss.xNextTaskUnblockTime tasks.o + 0x20007c20 - 0x00000004 Zero RW 1764 .bss.xNumOfOverflows tasks.o + 0x20007c24 - 0x00000004 Zero RW 2047 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x20007c28 - 0x00000004 Zero RW 2048 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x20007c2c - 0x00000004 Zero RW 1763 .bss.xPendedTicks tasks.o + 0x20007c30 - 0x00000014 Zero RW 1759 .bss.xPendingReadyList tasks.o + 0x20007c44 - 0x00000040 Zero RW 1555 .bss.xQueueRegistry queue.o + 0x20007c84 - 0x00000004 Zero RW 1751 .bss.xSchedulerRunning tasks.o + 0x20007c88 - 0x00000008 Zero RW 2045 .bss.xStart heap_4.o + 0x20007c90 - 0x00000014 Zero RW 1756 .bss.xSuspendedTaskList tasks.o + 0x20007ca4 - 0x00000014 Zero RW 1748 .bss.xTasksWaitingTermination tasks.o + 0x20007cb8 - 0x00000004 Zero RW 1753 .bss.xTickCount tasks.o + 0x20007cbc - 0x00000004 Zero RW 1829 .bss.xTimerQueue timers.o + 0x20007cc0 - 0x00000004 Zero RW 1830 .bss.xTimerTaskHandle timers.o + 0x20007cc4 - 0x00000004 Zero RW 1762 .bss.xYieldPending tasks.o + 0x20007cc8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x20007ec8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800c0b8, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800ca90, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -7743,28 +7855,30 @@ Image component sizes 2804 12 0 4 0 9029 ahrs.o 250 0 0 0 0 1423 altitudekalman.o 778 0 0 0 29 3583 at9s_pro.o - 540 32 0 0 0 2058 at9s_pro_cmd.o - 320 16 32 12 156 3226 atti_esti.o + 440 32 0 0 0 1697 at9s_pro_cmd.o + 368 16 32 12 168 3291 atti_esti.o 136 16 0 0 0 1093 blink.o 1048 16 0 0 26 5425 bmi088.o + 176 8 0 0 109 1936 cmd_1.o 1416 0 0 0 1724 42862 cmsis_os2.o + 10 0 0 288 0 1519 config.o 154 0 0 0 0 3311 dma.o 410 20 0 0 0 4110 filter.o 72 0 48 0 4 2836 freertos.o 416 0 0 0 0 4148 gpio.o 302 0 48 0 64 4858 gpio_1.o 674 0 0 0 25029 4716 heap_4.o - 132 12 0 0 12 845 height_cal.o + 156 12 0 0 12 860 height_cal.o 608 20 0 0 158 2754 heightestimation.o 304 0 0 0 180 5227 i2c.o - 136 0 0 0 0 465 init.o + 208 0 0 0 0 506 init.o 150 0 0 0 0 2193 list.o 232 0 0 0 0 2720 main.o 570 12 0 0 0 3400 pid.o 872 16 0 4 5 3802 port.o 232 4 72 0 0 6121 pwm.o + 196 12 0 0 1084 3895 quad_ctrl.o 1994 0 0 0 64 22588 queue.o - 136 8 0 0 109 1935 rc.o 380 0 0 0 280 5127 spi.o 408 0 0 0 32 8700 spi_1.o 1214 112 0 0 44 5015 spl06_1.o @@ -7790,23 +7904,24 @@ Image component sizes 544 0 0 0 432 7238 usart.o 634 0 0 0 0 2624 user_iic.o 160 0 0 0 0 2618 user_math.o - 0 0 220 0 100 3158 user_task.o + 0 0 267 0 116 3243 user_task.o + 1874 44 0 0 1 8957 xm_quadctrl.o ---------------------------------------------------------------------- - 35996 392 868 32 31952 437920 Object Totals + 38184 452 916 320 33064 452137 Object Totals 0 0 32 0 0 0 (incl. Generated) - 318 8 0 3 24 0 (incl. Padding) + 342 12 1 3 23 0 (incl. Padding) ---------------------------------------------------------------------- Code (inc. data) RO Data RW Data ZI Data Debug Library Member Name + 90 0 0 0 0 0 __dczerorl2.o 8 0 0 0 0 68 __main.o 0 0 0 0 0 0 __rtentry.o 12 0 0 0 0 0 __rtentry2.o 6 0 0 0 0 0 __rtentry4.o 52 8 0 0 0 0 __scatter.o - 26 0 0 0 0 0 __scatter_copy.o 28 0 0 0 0 0 __scatter_zi.o 22 0 0 0 0 100 _rserrno.o 16 0 0 0 0 68 aeabi_memset4.o @@ -7845,6 +7960,7 @@ Image component sizes 108 0 0 0 0 128 drleqf.o 408 56 0 0 0 168 dsqrt_umaal.o 86 4 0 0 0 132 f2d.o + 134 4 0 0 0 132 ffixll.o 92 4 0 0 0 132 ffixull.o 96 0 0 0 0 132 ffltll_clz.o 140 4 0 0 0 132 fnaninf.o @@ -7873,19 +7989,19 @@ Image component sizes 380 58 0 0 0 200 tanf.o ---------------------------------------------------------------------- - 12108 1084 328 0 96 8944 Library Totals - 34 8 0 0 0 0 (incl. Padding) + 12304 1084 328 0 96 9076 Library Totals + 32 4 0 0 0 0 (incl. Padding) ---------------------------------------------------------------------- Code (inc. data) RO Data RW Data ZI Data Debug Library Name - 878 20 0 0 96 1148 c_w.l - 3910 264 0 0 0 3920 fz_wm.l + 942 20 0 0 96 1148 c_w.l + 4044 268 0 0 0 4052 fz_wm.l 7286 792 328 0 0 3876 m_wm.l ---------------------------------------------------------------------- - 12108 1084 328 0 96 8944 Library Totals + 12304 1084 328 0 96 9076 Library Totals ---------------------------------------------------------------------- @@ -7894,15 +8010,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 48104 1476 1196 32 32048 440476 Grand Totals - 48104 1476 1196 32 32048 440476 ELF Image Totals - 48104 1476 1196 32 0 0 ROM Totals + 50488 1536 1244 320 33160 454677 Grand Totals + 50488 1536 1244 120 33160 454677 ELF Image Totals (compressed) + 50488 1536 1244 120 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 49300 ( 48.14kB) - Total RW Size (RW Data + ZI Data) 32080 ( 31.33kB) - Total ROM Size (Code + RO Data + RW Data) 49332 ( 48.18kB) + Total RO Size (Code + RO Data) 51732 ( 50.52kB) + Total RW Size (RW Data + ZI Data) 33480 ( 32.70kB) + Total ROM Size (Code + RO Data + RW Data) 51852 ( 50.64kB) ============================================================================== diff --git a/MDK-ARM/DveC/DveC_DveC.dep b/MDK-ARM/DveC/DveC_DveC.dep index 080d086..0a2ebea 100644 --- a/MDK-ARM/DveC/DveC_DveC.dep +++ b/MDK-ARM/DveC/DveC_DveC.dep @@ -135,7 +135,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) -I (..\User\task\user_task.h)(0x68F1F1D6) +I (..\User\task\user_task.h)(0x68F49892) F (../Core/Src/dma.c)(0x68F0EA66)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/dma.o -MD) I (..\Core\Inc\dma.h)(0x68DF6BC0) I (..\Core\Inc\main.h)(0x68F1B727) @@ -1877,17 +1877,6 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) F (..\User\component\user_math.h)(0x68F0EAFF)() -F (..\User\component\cmd.c)(0x68F0EAFF)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/cmd.o -MD) -I (..\User\component\cmd.h)(0x68F0EAFF) -I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x68F0EAFF) -I (..\User\component\user_math.h)(0x68F0EAFF) -I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\component\cmd.h)(0x68F0EAFF)() F (..\User\component\AltitudeKalman.c)(0x68F1E74C)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/altitudekalman.o -MD) I (..\User\component\AltitudeKalman.h)(0x68F1E74C) I (..\User\device\bmi088.h)(0x68F0E47F) @@ -1900,12 +1889,23 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (..\User\device\device.h)(0x68F0FFC5) F (..\User\component\AltitudeKalman.h)(0x68F1E74C)() -F (..\User\module\config.c)(0x68DF87BC)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/config.o -MD) -I (..\User\module\config.h)(0x68DF87AE) +F (..\User\module\config.c)(0x68F49186)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/config.o -MD) +I (..\User\module\config.h)(0x68F49094) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -F (..\User\module\config.h)(0x68DF87AE)() -F (..\User\module\at9s_pro_cmd.c)(0x68F10180)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/at9s_pro_cmd.o -MD) -I (..\User\module\at9s_pro_cmd.h)(0x68E13166) +I (..\User\module\xm_quadctrl.h)(0x68F49821) +I (..\User\device\at9s_pro.h)(0x68F1001A) +I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) +I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) +I (..\User\component\user_math.h)(0x68F0EAFF) +I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) +I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) +I (..\User\device\device.h)(0x68F0FFC5) +I (..\User\component\pid.h)(0x68F0EAFF) +I (..\User\component\filter.h)(0x68F0EAFF) +F (..\User\module\config.h)(0x68F49094)() +F (..\User\module\at9s_pro_cmd.c)(0x68F49821)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/at9s_pro_cmd.o -MD) +I (..\User\module\at9s_pro_cmd.h)(0x68F49822) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\device\at9s_pro.h)(0x68F1001A) @@ -1916,9 +1916,58 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x68F0FFC5) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\module\at9s_pro_cmd.h)(0x68E13166)() -F (..\User\module\xm_quadctrl.c)(0x68F100E8)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/xm_quadctrl.o -MD) -F (..\User\module\xm_quadctrl.h)(0x68F100E8)() +F (..\User\module\at9s_pro_cmd.h)(0x68F49822)() +F (..\User\module\xm_quadctrl.c)(0x68F490BD)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/xm_quadctrl.o -MD) +I (..\User\module\xm_quadctrl.h)(0x68F49821) +I (..\User\device\at9s_pro.h)(0x68F1001A) +I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) +I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) +I (..\User\component\user_math.h)(0x68F0EAFF) +I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) +I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) +I (..\User\device\device.h)(0x68F0FFC5) +I (..\User\component\pid.h)(0x68F0EAFF) +I (..\User\component\filter.h)(0x68F0EAFF) +I (..\User\bsp\pwm.h)(0x68F0EAFF) +I (..\Core\Inc\tim.h)(0x68DF6BC0) +I (..\Core\Inc\main.h)(0x68F1B727) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) +I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F) +I (..\User\bsp\bsp.h)(0x68F0EAFF) +I (..\User\bsp\time.h)(0x68F0EAFF) +I (..\User\module\HeightEstimation.h)(0x68F1FDF4) +F (..\User\module\xm_quadctrl.h)(0x68F49821)() F (..\User\module\HeightEstimation.c)(0x68F200A2)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/heightestimation.o -MD) I (..\User\bsp\time.h)(0x68F0EAFF) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -1967,7 +2016,7 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x68F0FFC5) I (..\User\component\filter.h)(0x68F0EAFF) -I (..\User\task\user_task.h)(0x68F1F1D6) +I (..\User\task\user_task.h)(0x68F49892) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) @@ -1979,8 +2028,121 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) F (..\User\module\HeightEstimation.h)(0x68F1FDF4)() -F (..\User\task\atti_esti.c)(0x68F20370)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/atti_esti.o -MD) -I (..\User\task\user_task.h)(0x68F1F1D6) +F (..\User\task\init.c)(0x68F49BE0)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/init.o -MD) +I (..\User\task\user_task.h)(0x68F49892) +I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) +I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) +I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) +I (..\User\component\ahrs.h)(0x68F0EAFF) +I (..\User\component\user_math.h)(0x68F0EAFF) +I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) +I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) +I (..\User\module\xm_quadctrl.h)(0x68F49821) +I (..\User\device\at9s_pro.h)(0x68F1001A) +I (..\User\device\device.h)(0x68F0FFC5) +I (..\User\component\pid.h)(0x68F0EAFF) +I (..\User\component\filter.h)(0x68F0EAFF) +F (..\User\task\user_task.c)(0x68F496CD)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/user_task.o -MD) +I (..\User\task\user_task.h)(0x68F49892) +I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) +I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) +I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) +F (..\User\task\user_task.h)(0x68F49892)() +F (..\User\task\blink.c)(0x68F496CD)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/blink.o -MD) +I (..\User\task\user_task.h)(0x68F49892) +I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) +I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) +I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) +I (..\User\bsp\pwm.h)(0x68F0EAFF) +I (..\Core\Inc\tim.h)(0x68DF6BC0) +I (..\Core\Inc\main.h)(0x68F1B727) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) +I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F) +I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F) +I (..\User\bsp\bsp.h)(0x68F0EAFF) +I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +F (..\User\task\cmd.c)(0x68F49980)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/cmd_1.o -MD) +I (..\User\task\user_task.h)(0x68F49892) +I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) +I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) +I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) +I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) +I (..\User\device\at9s_pro.h)(0x68F1001A) +I (..\User\component\user_math.h)(0x68F0EAFF) +I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) +I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) +I (..\User\device\device.h)(0x68F0FFC5) +I (..\User\module\at9s_pro_cmd.h)(0x68F49822) +I (..\User\module\xm_quadctrl.h)(0x68F49821) +I (..\User\component\pid.h)(0x68F0EAFF) +I (..\User\component\filter.h)(0x68F0EAFF) +F (..\User\task\atti_esti.c)(0x68F496CD)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/atti_esti.o -MD) +I (..\User\task\user_task.h)(0x68F49892) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) @@ -2039,8 +2201,8 @@ I (..\User\component\pid.h)(0x68F0EAFF) I (..\User\component\filter.h)(0x68F0EAFF) I (..\User\device\bmi088.h)(0x68F0E47F) I (..\User\device\device.h)(0x68F0FFC5) -F (..\User\task\height_cal.c)(0x68F1FDEB)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/height_cal.o -MD) -I (..\User\task\user_task.h)(0x68F1F1D6) +F (..\User\task\height_cal.c)(0x68F496CD)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/height_cal.o -MD) +I (..\User\task\user_task.h)(0x68F49892) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) @@ -2096,8 +2258,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F) I (..\User\module\HeightEstimation.h)(0x68F1FDF4) I (..\User\device\at9s_pro.h)(0x68F1001A) -F (..\User\task\init.c)(0x68F20304)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/init.o -MD) -I (..\User\task\user_task.h)(0x68F1F1D6) +F (..\User\task\quad_ctrl.c)(0x68F49980)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/quad_ctrl.o -MD) +I (..\User\task\user_task.h)(0x68F49892) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) @@ -2110,153 +2272,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) -I (..\User\component\ahrs.h)(0x68F0EAFF) -I (..\User\component\user_math.h)(0x68F0EAFF) -I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -F (..\User\task\main_control.c)(0x68F100F9)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/main_control.o -MD) -I (..\User\task\user_task.h)(0x68F1F1D6) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) -I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) -I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) -I (..\Core\Inc\main.h)(0x68F1B727) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F) -I (..\User\module\xm_quadctrl.h)(0x68F100E8) +I (..\User\module\xm_quadctrl.h)(0x68F49821) I (..\User\device\at9s_pro.h)(0x68F1001A) I (..\User\component\user_math.h)(0x68F0EAFF) I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\device\device.h)(0x68F0FFC5) -I (..\User\device\buzzer.h)(0x68F0E47F) -I (..\User\bsp\pwm.h)(0x68F0EAFF) -I (..\Core\Inc\tim.h)(0x68DF6BC0) -I (..\User\bsp\bsp.h)(0x68F0EAFF) -I (..\User\bsp\time.h)(0x68F0EAFF) -I (..\User\component\ahrs.h)(0x68F0EAFF) -F (..\User\task\user_task.c)(0x68F0E603)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/user_task.o -MD) -I (..\User\task\user_task.h)(0x68F1F1D6) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) -I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I 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(..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F) -I (..\User\bsp\bsp.h)(0x68F0EAFF) -I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -F (..\User\task\rc.c)(0x68F204CB)(-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 -gdwarf-3 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o dvec/rc.o -MD) -I (..\User\task\user_task.h)(0x68F1F1D6) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) -I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208) -I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208) -I 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zvb&*2-8y@eC;9W|l7P#1-X_7S5T1$sQ9-Su_nSILS_h6_+tR|gcR#jK^4l}Z5ur_Q4ratXkB*&(?J-- zq9G3&;>MV;DO9ZeP({z;{;2;Hc*m~$0Id!UQGxOXfM=Ap52bqwMc>3WnACI~N(<%g zEX+CcrA1iA6=&61gLT}%P29q5+`(Pk!+l($qx4z8G9{J#vc%ck1g5b7U*8~Uz6I$U zt!ZhHbXqEFty VVW#6}b8__$$^|+1xz79XtRK&%Kr8?N diff --git a/User/component/cmd.c b/User/component/cmd.c deleted file mode 100644 index 1effe69..0000000 --- a/User/component/cmd.c +++ /dev/null @@ -1,387 +0,0 @@ -/* - 控制命令 -*/ - -#include "cmd.h" - -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** - * @brief 行为转换为对应按键 - * - * @param cmd 主结构体 - * @param behavior 行为 - * @return uint16_t 行为对应的按键 - */ -static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd, - CMD_Behavior_t behavior) { - return cmd->param->map.key_map[behavior].key; -} - -static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd, - CMD_Behavior_t behavior) { - return cmd->param->map.key_map[behavior].active; -} - -/** - * @brief 检查按键是否按下 - * - * @param rc 遥控器数据 - * @param key 按键名称 - * @param stateful 是否为状态切换按键 - * @return true 按下 - * @return false 未按下 - */ -static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) { - /* 按下按键为鼠标左、右键 */ - if (key == CMD_L_CLICK) { - return rc->mouse.l_click; - } - if (key == CMD_R_CLICK) { - return rc->mouse.r_click; - } - return rc->key & (1u << key); -} - -static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd, - CMD_Behavior_t behavior) { - CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior); - CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior); - - bool now_key_pressed, last_key_pressed; - - /* 按下按键为鼠标左、右键 */ - if (key == CMD_L_CLICK) { - now_key_pressed = rc->mouse.l_click; - last_key_pressed = cmd->mouse_last.l_click; - } else if (key == CMD_R_CLICK) { - now_key_pressed = rc->mouse.r_click; - last_key_pressed = cmd->mouse_last.r_click; - } else { - now_key_pressed = rc->key & (1u << key); - last_key_pressed = cmd->key_last & (1u << key); - } - - switch (active) { - case CMD_ACTIVE_PRESSING: - return now_key_pressed && !last_key_pressed; - case CMD_ACTIVE_RASING: - return !now_key_pressed && last_key_pressed; - case CMD_ACTIVE_PRESSED: - return now_key_pressed; - } -} - -/** - * @brief 解析pc行为逻辑 - * - * @param rc 遥控器数据 - * @param cmd 主结构体 - * @param dt_sec 两次解析的间隔 - */ -static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) { - cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; - - /* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */ - cmd->gimbal.delta_eulr.yaw = - (float)rc->mouse.x * dt_sec * cmd->param->sens_mouse; - cmd->gimbal.delta_eulr.pit = - (float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse; - cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f; - cmd->shoot.reverse_trig = false; - - /* 按键行为映射相关逻辑 */ - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) { - cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) { - cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) { - cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) { - cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) { - cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense; - cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) { - cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense; - cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) { - /* 切换至开火模式，设置相应的射击频率和弹丸初速度 */ - cmd->shoot.mode = SHOOT_MODE_LOADED; - cmd->shoot.fire = true; - } else { - /* 切换至准备模式，停止射击 */ - cmd->shoot.mode = SHOOT_MODE_LOADED; - cmd->shoot.fire = false; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) { - /* 每按一次依次切换开火下一个模式 */ - cmd->shoot.fire_mode++; - cmd->shoot.fire_mode %= FIRE_MODE_NUM; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) { - /* 切换到小陀螺模式 */ - cmd->chassis.mode = CHASSIS_MODE_ROTOR; - cmd->chassis.mode_rotor = ROTOR_MODE_RAND; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) { - /* 每按一次开、关弹舱盖 */ - cmd->shoot.cover_open = !cmd->shoot.cover_open; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) { - if (cmd->ai_status == AI_STATUS_HITSWITCH) { - /* 停止ai的打符模式，停用host控制 */ - CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP); - cmd->host_overwrite = false; - cmd->ai_status = AI_STATUS_STOP; - } else if (cmd->ai_status == AI_STATUS_AUTOAIM) { - /* 自瞄模式中切换失败提醒 */ - } else { - /* ai切换至打符模式，启用host控制 */ - CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START); - cmd->ai_status = AI_STATUS_HITSWITCH; - cmd->host_overwrite = true; - } - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) { - if (cmd->ai_status == AI_STATUS_AUTOAIM) { - /* 停止ai的自瞄模式，停用host控制 */ - cmd->host_overwrite = false; - cmd->ai_status = AI_STATUS_STOP; - CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP); - } else { - /* ai切换至自瞄模式，启用host控制 */ - cmd->ai_status = AI_STATUS_AUTOAIM; - cmd->host_overwrite = true; - CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START); - } - } else { - cmd->host_overwrite = false; - // TODO: 修复逻辑 - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) { - /* 按下拨弹反转 */ - cmd->shoot.reverse_trig = true; - } - if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) { - cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35; - } - /* 保存当前按下的键位状态 */ - cmd->key_last = rc->key; - memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last)); -} - -/** - * @brief 解析rc行为逻辑 - * - * @param rc 遥控器数据 - * @param cmd 主结构体 - * @param dt_sec 两次解析的间隔 - */ -static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) { - switch (rc->sw_l) { - /* 左拨杆相应行为选择和解析 */ - case CMD_SW_UP: - cmd->chassis.mode = CHASSIS_MODE_BREAK; - break; - - case CMD_SW_MID: - cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL; - break; - - case CMD_SW_DOWN: - cmd->chassis.mode = CHASSIS_MODE_ROTOR; - cmd->chassis.mode_rotor = ROTOR_MODE_CW; - break; - - case CMD_SW_ERR: - cmd->chassis.mode = CHASSIS_MODE_RELAX; - break; - } - switch (rc->sw_r) { - /* 右拨杆相应行为选择和解析*/ - case CMD_SW_UP: - cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; - cmd->shoot.mode = SHOOT_MODE_SAFE; - break; - - case CMD_SW_MID: - cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; - cmd->shoot.fire = false; - cmd->shoot.mode = SHOOT_MODE_LOADED; - break; - - case CMD_SW_DOWN: - cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; - cmd->shoot.mode = SHOOT_MODE_LOADED; - cmd->shoot.fire_mode = FIRE_MODE_SINGLE; - cmd->shoot.fire = true; - break; - /* - case CMD_SW_UP: - cmd->gimbal.mode = GIMBAL_MODE_RELAX; - cmd->shoot.mode = SHOOT_MODE_SAFE; - break; - - case CMD_SW_MID: - cmd->gimbal.mode = GIMBAL_MODE_RELAX; - cmd->shoot.fire = false; - cmd->shoot.mode = SHOOT_MODE_LOADED; - break; - - case CMD_SW_DOWN: - cmd->gimbal.mode = GIMBAL_MODE_RELAX; - cmd->shoot.mode = SHOOT_MODE_LOADED; - cmd->shoot.fire_mode = FIRE_MODE_SINGLE; - cmd->shoot.fire = true; - break; - */ - case CMD_SW_ERR: - cmd->gimbal.mode = GIMBAL_MODE_RELAX; - cmd->shoot.mode = SHOOT_MODE_RELAX; - } - /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */ - cmd->chassis.ctrl_vec.vx = rc->ch_l_x; - cmd->chassis.ctrl_vec.vy = rc->ch_l_y; - cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc; - cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc; -} - -/** - * @brief rc失控时机器人恢复放松模式 - * - * @param cmd 主结构体 - */ -static void CMD_RcLostLogic(CMD_t *cmd) { - /* 机器人底盘、云台、射击运行模式恢复至放松模式 */ - cmd->chassis.mode = CHASSIS_MODE_RELAX; - cmd->gimbal.mode = GIMBAL_MODE_RELAX; - cmd->shoot.mode = SHOOT_MODE_RELAX; -} - -/** - * @brief 初始化命令解析 - * - * @param cmd 主结构体 - * @param param 参数 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) { - /* 指针检测 */ - if (cmd == NULL) return -1; - if (param == NULL) return -1; - - /* 设置机器人的命令参数，初始化控制方式为rc控制 */ - cmd->pc_ctrl = false; - cmd->param = param; - - return 0; -} - -/** - * @brief 检查是否启用上位机控制指令覆盖 - * - * @param cmd 主结构体 - * @return true 启用 - * @return false 不启用 - */ -inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; } - -/** - * @brief 解析命令 - * - * @param rc 遥控器数据 - * @param cmd 命令 - * @param dt_sec 两次解析的间隔 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) { - /* 指针检测 */ - if (rc == NULL) return -1; - if (cmd == NULL) return -1; - - /* 在pc控制和rc控制间切换 */ - if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) && - CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q)) - cmd->pc_ctrl = true; - - if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) && - CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E)) - cmd->pc_ctrl = false; - /*c当rc丢控时，恢复机器人至默认状态 */ - if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) { - CMD_RcLostLogic(cmd); - } else { - if (cmd->pc_ctrl) { - CMD_PcLogic(rc, cmd, dt_sec); - } else { - CMD_RcLogic(rc, cmd, dt_sec); - } - } - return 0; -} - -/** - * @brief 解析上位机命令 - * - * @param host host数据 - * @param cmd 命令 - * @param dt_sec 两次解析的间隔 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) { - (void)dt_sec; /* 未使用dt_sec，消除警告 */ - /* 指针检测 */ - if (host == NULL) return -1; - if (cmd == NULL) return -1; - - /* 云台欧拉角设置为host相应的变化的欧拉角 */ - cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw; - cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit; - - /* host射击命令，设置不同的射击频率和弹丸初速度 */ - if (host->fire) { - cmd->shoot.mode = SHOOT_MODE_LOADED; - cmd->shoot.fire = true; - } else { - cmd->shoot.mode = SHOOT_MODE_SAFE; - } - return 0; -} - -/** - * @brief 添加向Referee发送的命令 - * - * @param ref 命令队列 - * @param cmd 要添加的命令 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) { - /* 指针检测 */ - if (ref == NULL) return -1; - /* 越界检测 */ - if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1; - - /* 添加机器人当前行为状态到画图的命令队列中 */ - ref->cmd[ref->counter] = cmd; - ref->counter++; - return 0; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/component/cmd.h b/User/component/cmd.h deleted file mode 100644 index df84538..0000000 --- a/User/component/cmd.h +++ /dev/null @@ -1,318 +0,0 @@ -/* - 控制命令 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -#include "component/ahrs.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 机器人型号 */ -typedef enum { - ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */ - ROBOT_MODEL_HERO, /* 英雄机器人 */ - ROBOT_MODEL_ENGINEER, /* 工程机器人 */ - ROBOT_MODEL_DRONE, /* 空中机器人 */ - ROBOT_MODEL_SENTRY, /* 哨兵机器人 */ - ROBOT_MODEL_NUM, /* 型号数量 */ -} CMD_RobotModel_t; - -/* 底盘运行模式 */ -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 */ - CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */ - CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */ - CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */ - CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */ - CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */ - CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */ -} CMD_ChassisMode_t; - -/* 云台运行模式 */ -typedef enum { - GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */ - GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */ - GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */ -} CMD_GimbalMode_t; - -/* 射击运行模式 */ -typedef enum { - SHOOT_MODE_RELAX, /* 放松模式，电机不输出 */ - SHOOT_MODE_SAFE, /* 保险模式，电机闭环控制保持静止 */ - SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */ -} CMD_ShootMode_t; - -typedef enum { - FIRE_MODE_SINGLE, /* 单发开火模式 */ - FIRE_MODE_BURST, /* N连发开火模式 */ - FIRE_MODE_CONT, /* 持续开火模式 */ - FIRE_MODE_NUM, -} CMD_FireMode_t; - -/* 小陀螺转动模式 */ -typedef enum { - ROTOR_MODE_CW, /* 顺时针转动 */ - ROTOR_MODE_CCW, /* 逆时针转动 */ - ROTOR_MODE_RAND, /* 随机转动 */ -} CMD_RotorMode_t; - -/* 底盘控制命令 */ -typedef struct { - CMD_ChassisMode_t mode; /* 底盘运行模式 */ - CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */ - MoveVector_t ctrl_vec; /* 底盘控制向量 */ -} CMD_ChassisCmd_t; - -/* 云台控制命令 */ -typedef struct { - CMD_GimbalMode_t mode; /* 云台运行模式 */ - AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */ -} CMD_GimbalCmd_t; - -/* 射击控制命令 */ -typedef struct { - CMD_ShootMode_t mode; /* 射击运行模式 */ - CMD_FireMode_t fire_mode; /* 开火模式 */ - bool fire; /*开火*/ - bool cover_open; /* 弹舱盖开关 */ - bool reverse_trig; /* 拨弹电机状态 */ -} CMD_ShootCmd_t; - -/* 拨杆位置 */ -typedef enum { - CMD_SW_ERR = 0, - CMD_SW_UP = 1, - CMD_SW_MID = 3, - CMD_SW_DOWN = 2, -} CMD_SwitchPos_t; - -/* 键盘按键值 */ -typedef enum { - CMD_KEY_W = 0, - CMD_KEY_S, - CMD_KEY_A, - CMD_KEY_D, - CMD_KEY_SHIFT, - CMD_KEY_CTRL, - CMD_KEY_Q, - CMD_KEY_E, - CMD_KEY_R, - CMD_KEY_F, - CMD_KEY_G, - CMD_KEY_Z, - CMD_KEY_X, - CMD_KEY_C, - CMD_KEY_V, - CMD_KEY_B, - CMD_L_CLICK, - CMD_R_CLICK, - CMD_KEY_NUM, -} CMD_KeyValue_t; - -/* 行为值序列 */ -typedef enum { - CMD_BEHAVIOR_FORE = 0, /* 向前 */ - CMD_BEHAVIOR_BACK, /* 向后 */ - CMD_BEHAVIOR_LEFT, /* 向左 */ - CMD_BEHAVIOR_RIGHT, /* 向右 */ - CMD_BEHAVIOR_ACCELERATE, /* 加速 */ - CMD_BEHAVIOR_DECELEBRATE, /* 减速 */ - CMD_BEHAVIOR_FIRE, /* 开火 */ - CMD_BEHAVIOR_FIRE_MODE, /* 切换开火模式 */ - CMD_BEHAVIOR_BUFF, /* 打符模式 */ - CMD_BEHAVIOR_AUTOAIM, /* 自瞄模式 */ - CMD_BEHAVIOR_OPENCOVER, /* 弹舱盖开关 */ - CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */ - CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */ - CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */ - CMD_BEHAVIOR_NUM, -} CMD_Behavior_t; - -typedef enum { - CMD_ACTIVE_PRESSING, /* 按下时触发 */ - CMD_ACTIVE_RASING, /* 抬起时触发 */ - CMD_ACTIVE_PRESSED, /* 按住时触发 */ -} CMD_ActiveType_t; - -typedef struct { - CMD_ActiveType_t active; - CMD_KeyValue_t key; -} CMD_KeyMapItem_t; - -/* 行为映射的对应按键数组 */ -typedef struct { - CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM]; -} CMD_KeyMap_Params_t; - -/* 位移灵敏度参数 */ -typedef struct { - float move_sense; /* 移动灵敏度 */ - float move_fast_sense; /* 加速灵敏度 */ - float move_slow_sense; /* 减速灵敏度 */ -} CMD_Move_Params_t; - -typedef struct { - uint16_t width; - uint16_t height; -} CMD_Screen_t; - -/* 命令参数 */ -typedef struct { - float sens_mouse; /* 鼠标灵敏度 */ - float sens_rc; /* 遥控器摇杆灵敏度 */ - CMD_KeyMap_Params_t map; /* 按键映射行为命令 */ - CMD_Move_Params_t move; /* 位移灵敏度参数 */ - CMD_Screen_t screen; /* 屏幕分辨率参数 */ -} CMD_Params_t; - -/* AI行为状态 */ -typedef enum { - AI_STATUS_STOP, /* 停止状态 */ - AI_STATUS_AUTOAIM, /* 自瞄状态 */ - AI_STATUS_HITSWITCH, /* 打符状态 */ - AI_STATUS_AUTOMATIC /* 自动状态 */ -} CMD_AI_Status_t; - -/* UI所用行为状态 */ -typedef enum { - CMD_UI_NOTHING, /* 当前无状态 */ - CMD_UI_AUTO_AIM_START, /* 自瞄状态开启 */ - CMD_UI_AUTO_AIM_STOP, /* 自瞄状态关闭 */ - CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */ - CMD_UI_HIT_SWITCH_STOP /* 打符状态关闭 */ -} CMD_UI_t; - -/*裁判系统发送的命令*/ -typedef struct { - CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */ - uint8_t counter; /* 命令计数 */ -} CMD_RefereeCmd_t; - -typedef struct { - bool pc_ctrl; /* 是否使用键鼠控制 */ - bool host_overwrite; /* 是否Host控制 */ - uint16_t key_last; /* 上次按键键值 */ - - struct { - int16_t x; - int16_t y; - int16_t z; - bool l_click; /* 左键 */ - bool r_click; /* 右键 */ - } mouse_last; /* 鼠标值 */ - - CMD_AI_Status_t ai_status; /* AI状态 */ - - const CMD_Params_t *param; /* 命令参数 */ - - CMD_ChassisCmd_t chassis; /* 底盘控制命令 */ - CMD_GimbalCmd_t gimbal; /* 云台控制命令 */ - CMD_ShootCmd_t shoot; /* 射击控制命令 */ - CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */ -} CMD_t; - -typedef struct { - float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ - float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ - float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ - float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ - - float ch_res; /* 第五通道值 */ - - CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */ - CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */ - - struct { - int16_t x; - int16_t y; - int16_t z; - bool l_click; /* 左键 */ - bool r_click; /* 右键 */ - } mouse; /* 鼠标值 */ - - uint16_t key; /* 按键值 */ - - uint16_t res; /* 保留，未启用 */ -} CMD_RC_t; - -typedef struct { - AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */ - - struct { - float vx; /* x轴移动速度 */ - float vy; /* y轴移动速度 */ - float wz; /* z轴转动速度 */ - } chassis_move_vec; /* 底盘移动向量 */ - - bool fire; /* 开火状态 */ -} CMD_Host_t; - -/** - * @brief 解析行为命令 - * - * @param rc 遥控器数据 - * @param cmd 主结构体 - */ -int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param); - -/** - * @brief 检查是否启用上位机控制指令覆盖 - * - * @param cmd 主结构体 - * @return true 启用 - * @return false 不启用 - */ -bool CMD_CheckHostOverwrite(CMD_t *cmd); - -/** - * @brief 解析命令 - * - * @param rc 遥控器数据 - * @param cmd 命令 - * @param dt_sec 两次解析的间隔 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec); - -/** - * @brief 解析上位机命令 - * - * @param host host数据 - * @param cmd 命令 - * @param dt_sec 两次解析的间隔 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec); - -/** - * @brief 添加向Referee发送的命令 - * - * @param ref 命令队列 - * @param cmd 要添加的命令 - * @return int8_t 0对应没有错误 - */ -int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/module/at9s_pro_cmd.c b/User/module/at9s_pro_cmd.c index 1a960c1..95bdafc 100644 --- a/User/module/at9s_pro_cmd.c +++ b/User/module/at9s_pro_cmd.c @@ -43,25 +43,9 @@ int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd) if(fabs(at9s_cmd->ch_r_x)>=1.0f)at9s_cmd->ch_r_x= at9s_cmd->ch_r_x>0?1.0f:-1.0f; if(fabs(at9s_cmd->ch_r_y)>=1.0f)at9s_cmd->ch_r_y= at9s_cmd->ch_r_y>0?1.0f:-1.0f; - - at9s_cmd->chassis_ctrl_vec.x = at9s_cmd->ch_r_x; - at9s_cmd->chassis_ctrl_vec.y = at9s_cmd->ch_r_y; - at9s_cmd->gimbal_yaw_ctrl_vec.w = at9s_cmd->ch_l_x; - at9s_cmd->gimbal_pit_ctrl_vec.w = at9s_cmd->ch_l_y; - - if(rc->online == false ||rc->data.key_H == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_BREAKING_CONTROL; - else if(rc->data.key_E == AT9S_CMD_SW_DOWN)at9s_cmd->mode = MODE_CMD_ONLT_GIMBAL; - else if(rc->data.key_E == AT9S_CMD_SW_MID)at9s_cmd->mode = MODE_CMD_FOLLOW; - else if(rc->data.key_E == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_SPIN; - - if(rc->data.key_C == AT9S_CMD_SW_DOWN)at9s_cmd->ai = true; - else at9s_cmd->ai = false; - - if(rc->data.key_G == AT9S_CMD_SW_DOWN) at9s_cmd->friction = false; - else if(rc->data.key_G == AT9S_CMD_SW_MID||rc->data.key_G == AT9S_CMD_SW_UP) at9s_cmd->friction = true; - - if(rc->data.key_G == AT9S_CMD_SW_UP)at9s_cmd->shoot = true; - else at9s_cmd->shoot = false; + if(rc->online == true ||rc->data.key_D == AT9S_CMD_SW_UP)at9s_cmd->stop = false; + else if(rc->online == false || rc->data.key_D == AT9S_CMD_SW_DOWN)at9s_cmd->stop = true; + else at9s_cmd->stop = true; at9s_cmd->online = rc->online; return 0; diff --git a/User/module/at9s_pro_cmd.h b/User/module/at9s_pro_cmd.h index 449b5da..3c915a4 100644 --- a/User/module/at9s_pro_cmd.h +++ b/User/module/at9s_pro_cmd.h @@ -19,31 +19,14 @@ typedef enum { typedef struct { bool online; + bool stop; int8_t mode; - bool ai; - - bool friction; - bool shoot; - float ch_l_x; /* ��ҡ�� X */ float ch_l_y; /* ��ҡ�� Y�����ţ� */ float ch_r_x; /* ��ҡ�� X */ float ch_r_y; /* ��ҡ�� Y */ - - struct{ - float x; - float y; - }chassis_ctrl_vec; - - struct{ - float w; - }gimbal_yaw_ctrl_vec; - - struct{ - float w; - }gimbal_pit_ctrl_vec; } COMP_AT9S_CMD_t; diff --git a/User/module/config.c b/User/module/config.c index cb4ed7c..efb3236 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -15,7 +15,110 @@ // 机器人参数配置 Config_RobotParam_t robot_config = { + .quad_params = { + .ctrl_freq = { + .pos_alt=100, + .pos_vel=100, + .att_agl=250, + .att_omg=1000 + }, + .baseThrottle=0.3, + + .pid = { + .pit_agl = { + .k = 1.0f, + .p = 0.8f, + .i = 0.05f, + .d = 0.0f, + .i_limit = 0.3f, + .out_limit = 1.0f, + .d_cutoff_freq = 0.0f, + .range = 0.0f + }, + .rol_agl = { + .k = 1.0f, + .p = 0.8f, + .i = 0.05f, + .d = 0.0f, + .i_limit = 0.3f, + .out_limit = 1.0f, + .d_cutoff_freq = 0.0f, + .range = 0.0f + }, + .yaw_agl = { + .k = 1.0f, + .p = 0.8f, + .i = 0.05f, + .d = 0.0f, + .i_limit = 0.3f, + .out_limit = 1.0f, + .d_cutoff_freq = 0.0f, + .range = 0.0f + }, + .pit_omg = { + .k = 1.0f, + .p = 0.25f, + .i = 0.05f, + .d = 0.01f, + .i_limit = 0.05f, + .out_limit = 0.2f, + .d_cutoff_freq = 30.0f, + .range = 0.0f + }, + .rol_omg = { + .k = 1.0f, + .p = 0.25f, + .i = 0.05f, + .d = 0.01f, + .i_limit = 0.05f, + .out_limit = 0.2f, + .d_cutoff_freq = 30.0f, + .range = 0.0f + }, + .yaw_omg = { + .k = 1.0f, + .p = 0.25f, + .i = 0.05f, + .d = 0.01f, + .i_limit = 0.05f, + .out_limit = 0.2f, + .d_cutoff_freq = 30.0f, + .range = 0.0f + }, + .alt_pos = { + .k = 0.25f, + .p = 1.0f, + .i = 0.05f, + .d = 0.00f, + .i_limit = 0.5f, + .out_limit = 3.0f, + .d_cutoff_freq = 0.0f, + .range = 0.0f + }, + .alt_vel = { + .k = 0.08f, + .p = 2.2f, + .i = 0.05f, + .d = 0.01f, + .i_limit = 0.05f, + .out_limit = 0.2f, + .d_cutoff_freq = -1.0f, + .range = 0.0f + }, + + }, + .expect_status_limit = { + .yaw_omg = 1.0f, + .rol_agl = 0.1745329f, + .pit_agl = 0.1745329f + }, + .motor_limit = { + .min_output = 0.1f, + .max_output = 0.9f + }, + + } }; diff --git a/User/module/config.h b/User/module/config.h index 446fb6c..80a613c 100644 --- a/User/module/config.h +++ b/User/module/config.h @@ -9,9 +9,9 @@ extern "C" { #endif #include - +#include "module/xm_quadctrl.h" typedef struct { - + Quad_Params_t quad_params; } Config_RobotParam_t; /* Exported functions prototypes -------------------------------------------- */ diff --git a/User/module/xm_quadctrl.c b/User/module/xm_quadctrl.c index d8ced6f..38b0842 100644 --- a/User/module/xm_quadctrl.c +++ b/User/module/xm_quadctrl.c @@ -1,6 +1,28 @@ -//#include "xm_quadctrl.h" -//#include "component/pid.h" -//#include "bsp/pwm.h" +/* Includes ----------------------------------------------------------------- */ +#include "xm_quadctrl.h" +#include "component/pid.h" +#include "bsp/pwm.h" +#include "bsp/time.h" +#include "module/HeightEstimation.h" +#include "component/filter.h" +// 电机布局: +// [0] 前右 (CW) +// [1] 前左 (CCW) +// [2] 后左 (CW) +// [3] 后右 (CCW) + + + +//低通滤波初始化和计算 + + + + + + + + + //// PID控制器实例 @@ -9,7 +31,6 @@ //KPID_t yaw_rate_pid; // 偏航角速度环PID //KPID_t altitude_pos_pid; // 高度环PID //KPID_t altitude_vel_pid; // 高度环PID - //// PID参数配置 //KPID_Params_t angle_pid_params = { // .k = 1.0f, // 控制器增益 @@ -21,7 +42,6 @@ // .d_cutoff_freq = 0.0f, // 截止频率(不使用) // .range = 0.0f // 误差范围(不使用) //}; - //KPID_Params_t rate_pid_params = { // .k = 1.0f, // .p = 0.25f, // 比例增益 @@ -32,7 +52,6 @@ // .d_cutoff_freq = 30.0f, // 微分项低通截止频率(Hz) // .range = 0.0f //}; - //KPID_Params_t alt_pos_pid_params = { // .k = 0.25f, // .p = 1.0f, // 比例增益 @@ -43,7 +62,6 @@ // .d_cutoff_freq = 0.0f, // 截止频率(Hz) // .range = 0.0f //}; - //KPID_Params_t alt_vel_pid_params = { // .k = 0.08f, // .p = 2.2f, // 比例增益 @@ -55,225 +73,296 @@ // .range = 0.0f //}; -//// 初始化卡尔曼滤波器 -//void Kalman_Init(KalmanFilter* kf) { -// kf->Q_angle = 0.001f; -// kf->Q_bias = 0.003f; -// kf->R_measure = 0.03f; -// kf->angle = 0.0f; -// kf->bias = 0.0f; -// kf->P[0][0] = 0.0f; -// kf->P[0][1] = 0.0f; -// kf->P[1][0] = 0.0f; -// kf->P[1][1] = 0.0f; -//} +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ -//// 卡尔曼滤波器更新 -//float Kalman_Update(KalmanFilter* kf, float newAngle, float newRate, float dt) { -// // 预测步骤 -// kf->angle += dt * (newRate - kf->bias); -// kf->P[0][0] += dt * (dt * kf->P[1][1] - kf->P[0][1] - kf->P[1][0] + kf->Q_angle); -// kf->P[0][1] -= dt * kf->P[1][1]; -// kf->P[1][0] -= dt * kf->P[1][1]; -// kf->P[1][1] += kf->Q_bias * dt; +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +static inline void Quad_Math_LimitFloat(float* value, float min, float max) { + if (*value < min) { + *value = min; + } else if (*value > max) { + *value = max; + } +} -// // 更新步骤 -// float y = newAngle - kf->angle; -// float S = kf->P[0][0] + kf->R_measure; -// float K[2]; -// K[0] = kf->P[0][0] / S; -// K[1] = kf->P[1][0] / S; +static inline void Quad_Math_ScaleSumTo1(float *a, float *b, float *c, float *d) { + float sum = *a + *b + *c + *d; + if (sum > 1.0f) { + float scale = 1.0f / sum; + *a *= scale; + *b *= scale; + *c *= scale; + *d *= scale; + } +} -// // 更新状态和协方差 -// kf->angle += K[0] * y; -// kf->bias += K[1] * y; -// float P00_temp = kf->P[0][0]; -// float P01_temp = kf->P[0][1]; -// kf->P[0][0] -= K[0] * P00_temp; -// kf->P[0][1] -= K[0] * P01_temp; -// kf->P[1][0] -= K[1] * P00_temp; -// kf->P[1][1] -= K[1] * P01_temp; +// 初始化卡尔曼滤波器 +void Kalman_Init(KalmanFilter* kf) { + kf->Q_angle = 0.001f; + kf->Q_bias = 0.003f; + kf->R_measure = 0.03f; + kf->angle = 0.0f; + kf->bias = 0.0f; + kf->P[0][0] = 0.0f; + kf->P[0][1] = 0.0f; + kf->P[1][0] = 0.0f; + kf->P[1][1] = 0.0f; +} +// 卡尔曼滤波器更新 +float Kalman_Update(KalmanFilter* kf, float newAngle, float newRate, float dt) { + // 预测步骤 + kf->angle += dt * (newRate - kf->bias); + kf->P[0][0] += dt * (dt * kf->P[1][1] - kf->P[0][1] - kf->P[1][0] + kf->Q_angle); + kf->P[0][1] -= dt * kf->P[1][1]; + kf->P[1][0] -= dt * kf->P[1][1]; + kf->P[1][1] += kf->Q_bias * dt; + // 更新步骤 + float y = newAngle - kf->angle; + float S = kf->P[0][0] + kf->R_measure; + float K[2]; + K[0] = kf->P[0][0] / S; + K[1] = kf->P[1][0] / S; + // 更新状态和协方差 + kf->angle += K[0] * y; + kf->bias += K[1] * y; + float P00_temp = kf->P[0][0]; + float P01_temp = kf->P[0][1]; + kf->P[0][0] -= K[0] * P00_temp; + kf->P[0][1] -= K[0] * P01_temp; + kf->P[1][0] -= K[1] * P00_temp; + kf->P[1][1] -= K[1] * P01_temp; + return kf->angle; +} -// return kf->angle; -//} -//// 全局变量 -//KalmanFilter roll_kf, pitch_kf; -//// 控制器初始化函数 -//void FlightController_Init(float sample_freq) { -// // 初始化卡尔曼滤波器 -// Kalman_Init(&roll_kf); -// Kalman_Init(&pitch_kf); -// -// -// // 初始化PID控制器 -// PID_Init(&roll_angle_pid, KPID_MODE_NO_D, sample_freq, &angle_pid_params); -// PID_Init(&pitch_angle_pid, KPID_MODE_NO_D, sample_freq, &angle_pid_params); -// PID_Init(&roll_rate_pid, KPID_MODE_CALC_D, sample_freq, &rate_pid_params); -// PID_Init(&pitch_rate_pid, KPID_MODE_CALC_D, sample_freq, &rate_pid_params); -// PID_Init(&yaw_rate_pid, KPID_MODE_SET_D, sample_freq, &rate_pid_params); -// PID_Init(&altitude_pos_pid, KPID_MODE_NO_D, sample_freq, &alt_pos_pid_params); -// PID_Init(&altitude_vel_pid, KPID_MODE_CALC_D, sample_freq, &alt_vel_pid_params); -// -// // 重置所有PID状态 -// PID_Reset(&roll_angle_pid); -// PID_Reset(&pitch_angle_pid); -// PID_Reset(&roll_rate_pid); -// PID_Reset(&pitch_rate_pid); -// PID_Reset(&yaw_rate_pid); -// PID_Reset(&altitude_pos_pid); -// PID_Reset(&altitude_vel_pid); -//} -//float target_yaw_rate; -//float expected_speed; -//float expect_thrust; -//float target_roll_rate; -//float target_pitch_rate; -//float base_throttle = 0.4f; // 基础油门 -//float target_altitude = 0.0f; // 目标高度1米 -//float roll_angle; -//float pitch_angle; -//// 主控制循环（在固定时间间隔调用 -//void FlightController_Update(SensorData sensors, Control_t* output, float dt, PS2_TypeDef rc) { -// // 1. 姿态估计（使用卡尔曼滤波） -// roll_angle = Kalman_Update(&roll_kf, -// atan2f(sensors.accel[1], sensors.accel[2]), -// sensors.gyro[0], -// dt)+0.0302813556; -// -// pitch_angle = Kalman_Update(&pitch_kf, -// atan2f(-sensors.accel[0], sensors.accel[2]), -// sensors.gyro[1], -// dt)+0.0181136467; -// -// // 2. 高度估计（融合加速度计和气压计） -// //AltKalman_Update(&alt_kf, sensors.accel[2], sensors.baro_alt, dt); -// -// // 3. 遥控器输入 -//// float target_yaw_rate, target_throttle; -// -// target_altitude += (rc.Rocker_LY-0.5)*0.03; -// if(target_altitude<=-13){target_altitude=-13;}else if(target_altitude>=11){target_altitude=11;} -// -//// expected_speed = -// -// output->Controltarget.pitch = (rc.Rocker_RY-0.5)*0.349065f; -// output->Controltarget.roll = (rc.Rocker_RX-0.5)*0.1745329f; -// target_yaw_rate = (rc.Rocker_LX-0.5)*0.349065f; -// -// // 4. 高度控制（单环PID） -// expected_speed = PID_Calc(&altitude_pos_pid, target_altitude, -sensors.baro_alt, 0, dt); -// expect_thrust = PID_Calc(&altitude_vel_pid, expected_speed, sensors.speed_z, 0, dt); -// if(expect_thrust<-1.0f){expect_thrust=-1.0f;} -// output->ControlOutput.throttle = base_throttle+expect_thrust; -// // 5. 双环姿态控制 -// // 外环：角度控制（输出目标角速度） -//// float target_roll_rate = PID_Calc(&roll_angle_pid, output->Controltarget.roll, roll_angle, 0, dt); -//// float target_pitch_rate = PID_Calc(&pitch_angle_pid, output->Controltarget.pitch, pitch_angle, 0, dt); -// target_roll_rate = PID_Calc(&roll_angle_pid, output->Controltarget.roll, roll_angle, 0, dt); -// target_pitch_rate = PID_Calc(&pitch_angle_pid, output->Controltarget.pitch, pitch_angle, 0, dt); -// -// // 内环：角速度控制（输出控制量） -// output->ControlOutput.roll = 2*PID_Calc(&roll_rate_pid, target_roll_rate, sensors.gyro[0], 0, dt); -// output->ControlOutput.pitch = 2*PID_Calc(&pitch_rate_pid, target_pitch_rate, sensors.gyro[1], 0, dt); -// output->ControlOutput.yaw = 1.5*PID_Calc(&yaw_rate_pid, target_yaw_rate, sensors.gyro[2], 0, dt); -// -// // 6. 输出限幅保护 -// output->ControlOutput.throttle = fmaxf(0.0f, fminf(1.0f, output->ControlOutput.throttle)); -// output->ControlOutput.roll = fmaxf(-1.0f, fminf(1.0f, output->ControlOutput.roll)); -// output->ControlOutput.pitch = fmaxf(-1.0f, fminf(1.0f, output->ControlOutput.pitch)); -// output->ControlOutput.yaw = fmaxf(-1.0f, fminf(1.0f, output->ControlOutput.yaw)); -// -//} +int8_t Quad_UpdateStatus(Quad_t *q) { + // 这里添加传感器数据更新逻辑 -//// 重置所有控制器（在模式切换或紧急情况下调用） -//void FlightController_Reset() { -// PID_Reset(&roll_angle_pid); -// PID_Reset(&pitch_angle_pid); -// PID_Reset(&roll_rate_pid); -// PID_Reset(&pitch_rate_pid); -// PID_Reset(&yaw_rate_pid); -// PID_Reset(&altitude_pos_pid); -// PID_Reset(&altitude_vel_pid); -// // 重置卡尔曼滤波器 -// Kalman_Init(&roll_kf); -// Kalman_Init(&pitch_kf); -// //AltKalman_Init(&alt_kf); -//} + // 1. 姿态估计（使用卡尔曼滤波） + q->current_status.eulr.rol = Kalman_Update(&q->kalman.rol_kf, + atan2f(q->current_status.accl.y, q->current_status.accl.z), + q->current_status.gyro.x, + q->dt); + + q->current_status.eulr.pit = Kalman_Update(&q->kalman.pit_kf, + atan2f(-q->current_status.accl.x, q->current_status.accl.z), + q->current_status.gyro.y, + q->dt); + // 2. 高度估计（融合加速度计和气压计） + HeightEstimation_GetHeight(&q->current_status.alt, &q->current_status.vel_z, q->current_status.accl.z); -///*********************************************************** */ -///* 混控器 */ -///*********************************************************** */ -//// 全局混控器实例 -////static Mixer mixer; -//Mixer mixer; -//// 初始化混控器 -//void MotorMixer_Init() { -// // 电机1配置 (前右) -// mixer.motors[0].min_output = 0.1f; -// mixer.motors[0].max_output = 1.0f; -// -// // 电机2配置 (前左) -// mixer.motors[1].min_output = 0.1f; -// mixer.motors[1].max_output = 1.0f; -// -// // 电机3配置 (后左) -// mixer.motors[2].min_output = 0.1f; -// mixer.motors[2].max_output = 1.0f; -// -// // 电机4配置 (后右) -// mixer.motors[3].min_output = 0.1f; -// mixer.motors[3].max_output = 1.0f; -// -// // 初始输出为0 -// for (int i = 0; i < 4; i++) { -// mixer.motor_output[i] = 0.0f; -// } -//} -//float mix[4]; -//// 应用电机输出 -//void Apply_Motor_Outputs(Control_t ctrl) { -// // 1. 基本混控公式 (X型四轴布局) -// // 电机布局: -// // [0] 前右 (CW) -// // [1] 前左 (CCW) -// // [2] 后左 (CW) -// // [3] 后右 (CCW) -// -// // 混控公式: -//// float mix[4]; -// mix[0] = ctrl.ControlOutput.throttle + ctrl.ControlOutput.roll - ctrl.ControlOutput.pitch + ctrl.ControlOutput.yaw; // 前右 -// mix[1] = ctrl.ControlOutput.throttle - ctrl.ControlOutput.roll - ctrl.ControlOutput.pitch - ctrl.ControlOutput.yaw; // 前左 -// mix[2] = ctrl.ControlOutput.throttle - ctrl.ControlOutput.roll + ctrl.ControlOutput.pitch + ctrl.ControlOutput.yaw; // 后左 -// mix[3] = ctrl.ControlOutput.throttle + ctrl.ControlOutput.roll + ctrl.ControlOutput.pitch - ctrl.ControlOutput.yaw; // 后右 -// -// // 2. 输出限幅和约束 -// for (int i = 0; i < 4; i++) { -// // 应用电机特定限幅 -// if (mix[i] < mixer.motors[i].min_output) { -// mix[i] = mixer.motors[i].min_output; -// } else if (mix[i] > mixer.motors[i].max_output) { -// mix[i] = mixer.motors[i].max_output; -// } -// -// // 更新当前输出值 -// mixer.motor_output[i] = 0.275+0.8*mix[i]*0.21; // 转换为PWM计数值 -// } -// -// // 3. 输出到PWM -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, mixer.motor_output[0]); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, mixer.motor_output[1]); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, mixer.motor_output[2]); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, mixer.motor_output[3]); -//} + return 0; +} -//// 安全停止所有电机 -//void MotorMixer_OutStop() { -// BSP_PWM_Stop(BSP_PWM_MOTOR_OUT1); -// BSP_PWM_Stop(BSP_PWM_MOTOR_OUT2); -// BSP_PWM_Stop(BSP_PWM_MOTOR_OUT3); -// BSP_PWM_Stop(BSP_PWM_MOTOR_OUT4); -//} +int8_t Quad_SetTargetStates(Quad_t *q, Quad_CMD_t cmd) { + // 这里添加目标状态设置逻辑 + + q->expect_status.vel = cmd.throttle; + q->expect_status.yaw_omg = cmd.yaw; + q->expect_status.rol_agl = cmd.rol+q->current_status.eulr.rol; + q->expect_status.pit_agl = cmd.pit+q->current_status.eulr.pit; + + Quad_Math_LimitFloat(&q->expect_status.yaw_omg, + -q->param->expect_status_limit.yaw_omg, + q->param->expect_status_limit.yaw_omg); + Quad_Math_LimitFloat(&q->expect_status.rol_agl, + q->expect_status.rol_agl-q->param->expect_status_limit.rol_agl, + q->expect_status.rol_agl+q->param->expect_status_limit.rol_agl); + Quad_Math_LimitFloat(&q->expect_status.pit_agl, + q->expect_status.pit_agl-q->param->expect_status_limit.pit_agl, + q->expect_status.pit_agl+q->param->expect_status_limit.pit_agl); + return 0; +} + +//位置控制 +int8_t Quad_PosCtrl(Quad_t *q,float dt) { + +// q->expect_status.vel=PID_Calc(&q->pid.alt_pos, +// q->expect_status.alt, +// q->current_status.alt, +// 0, +// dt); + q->expect_status.thrust=PID_Calc(&q->pid.alt_vel, + q->expect_status.vel, + q->current_status.vel_z, + 0, + dt); + Quad_Math_LimitFloat(&q->expect_status.thrust, -1.0f, 1.0f); + q->output.throttle=q->param->baseThrottle + +q->expect_status.thrust; + return 0; +} +//姿态控制 +int8_t Quad_AttCtrl_agl(Quad_t *q, float dt) { + //角度控制 + q->expect_status.rol_omg = PID_Calc(&q->pid.rol_agl, + q->expect_status.rol_agl, + q->current_status.eulr.rol, + 0, + q->dt); + q->expect_status.pit_omg = PID_Calc(&q->pid.pit_agl, + q->expect_status.pit_agl, + q->current_status.eulr.pit, + 0, + q->dt); + return 0; +} + +int8_t Quad_AttCtrl_omg(Quad_t *q, float dt) { + //角速度控制 + q->output.pit = PID_Calc(&q->pid.pit_omg, + q->expect_status.pit_omg, + q->current_status.gyro.y, + 0, + q->dt); + q->output.yaw = PID_Calc(&q->pid.yaw_omg, + q->expect_status.yaw_omg, + q->current_status.gyro.z, + 0, + q->dt); + q->output.rol = PID_Calc(&q->pid.rol_omg, + q->expect_status.rol_omg, + q->current_status.gyro.x, + 0, + q->dt); + return 0; +} + +int8_t Quad_Mixer(Quad_t *q) { + + Quad_Math_ScaleSumTo1(&q->output.throttle, &q->output.rol, &q->output.pit, &q->output.yaw); + + q->output.mix[0] = q->output.throttle + q->output.rol - q->output.pit + q->output.yaw;// 前右 + q->output.mix[1] = q->output.throttle - q->output.rol - q->output.pit - q->output.yaw;// 前左 + q->output.mix[2] = q->output.throttle - q->output.rol + q->output.pit + q->output.yaw;// 后左 + q->output.mix[3] = q->output.throttle + q->output.rol + q->output.pit - q->output.yaw;// 后右 + + for(int i=0;i<4;i++){ + Quad_Math_LimitFloat(&q->output.mix[i], q->param->motor_limit.min_output, q->param->motor_limit.max_output); + q->output.motor[i] = 0.275+0.8*q->output.mix[i]*0.21; + } + + return 0; +} + +int8_t Quad_OutPut(Quad_Output_t *output){ + + if(output == NULL){ + return -1; + } + BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT1, output->motor[0]); + BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT2, output->motor[1]); + BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT3, output->motor[2]); + BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT4, output->motor[3]); + return 0; +} + +int8_t Quad_ResetStatus(Quad_CurrentStatus_t *currentStatus) { + + return 0; // 返回0表示成功 +} + +int8_t Quad_ResetOutput(Quad_Output_t *output) { + + for (int i = 0; i < 4; i++) { + output->motor[i] = 0.0f; + } + return 0; // 返回0表示成功 +} +/* Exported functions ------------------------------------------------------- */ + +int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq) { + + if(param == NULL) { + return -1; // 参数错误 + } + q->param = param; + // 初始化卡尔曼滤波器 + Kalman_Init(&q->kalman.rol_kf); + Kalman_Init(&q->kalman.pit_kf); + + uint16_t pos_alt=param->ctrl_freq.pos_alt; + uint16_t pos_vel=param->ctrl_freq.pos_vel; + uint16_t att_agl=param->ctrl_freq.att_agl; + uint16_t att_omg=param->ctrl_freq.att_omg; + + LowPassFilter2p_Init(&q->filter.accl_x, freq, 30.0f); + LowPassFilter2p_Init(&q->filter.accl_y, freq, 30.0f); + LowPassFilter2p_Init(&q->filter.accl_z, freq, 30.0f); + LowPassFilter2p_Init(&q->filter.gyro_x, freq, 80.0f); + LowPassFilter2p_Init(&q->filter.gyro_y, freq, 80.0f); + LowPassFilter2p_Init(&q->filter.gyro_z, freq, 80.0f); + LowPassFilter2p_Init(&q->filter.eulr_yaw, freq, 20.0f); + LowPassFilter2p_Init(&q->filter.eulr_pit, freq, 20.0f); + LowPassFilter2p_Init(&q->filter.eulr_rol, freq, 20.0f); + LowPassFilter2p_Init(&q->filter.alt, freq, 10.0f); + LowPassFilter2p_Init(&q->filter.vel_z, freq, 15.0f); + + PID_Init(&q->pid.yaw_agl, KPID_MODE_CALC_D, att_agl, ¶m->pid.yaw_agl); + PID_Init(&q->pid.pit_agl, KPID_MODE_CALC_D, att_agl, ¶m->pid.pit_agl); + PID_Init(&q->pid.rol_agl, KPID_MODE_CALC_D, att_agl, ¶m->pid.rol_agl); + PID_Init(&q->pid.yaw_omg, KPID_MODE_CALC_D, att_omg, ¶m->pid.yaw_omg); + PID_Init(&q->pid.pit_omg, KPID_MODE_CALC_D, att_omg, ¶m->pid.pit_omg); + PID_Init(&q->pid.rol_omg, KPID_MODE_CALC_D, att_omg, ¶m->pid.rol_omg); + PID_Init(&q->pid.alt_pos, KPID_MODE_CALC_D, pos_alt, ¶m->pid.alt_pos); + PID_Init(&q->pid.alt_vel, KPID_MODE_CALC_D, pos_vel, ¶m->pid.alt_vel); + + q->expect_status.alt = q->current_status.alt; + q->expect_status.pit_agl = q->current_status.eulr.pit; + q->expect_status.rol_agl = q->current_status.eulr.rol; + q->expect_status.yaw_agl = q->current_status.eulr.yaw; + + BSP_PWM_Start(BSP_PWM_MOTOR_OUT1); + BSP_PWM_Start(BSP_PWM_MOTOR_OUT2); + BSP_PWM_Start(BSP_PWM_MOTOR_OUT3); + BSP_PWM_Start(BSP_PWM_MOTOR_OUT4); + + + return 0; +} + +int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t cmd) { + + if(q == NULL) { + return -1; // 参数错误 + } + q->now =BSP_TIME_Get_us() / 1000000.0f; + q->dt =(BSP_TIME_Get_us() - q->last) / 1000000.0f; + q->last=BSP_TIME_Get_us(); + + Quad_UpdateStatus(q); + Quad_SetTargetStates(q, cmd); + + static uint8_t cnt_1ms = 0; + cnt_1ms = (cnt_1ms + 1) % 10; + + /* 位置环 100 Hz */ + if (cnt_1ms == 0) { + Quad_PosCtrl(q,10*q->dt); + } + + /* 角度环 250 Hz */ + if (cnt_1ms % 4 == 0) { + Quad_AttCtrl_agl(q,4*q->dt); + } + + /* 角速度环 1000 Hz */ + Quad_AttCtrl_omg(q,q->dt); + + /* 混控 & 输出（1000 Hz） */ + Quad_Mixer(q); + Quad_OutPut(&q->output); + return 0; +} + +void Quad_stop() { + BSP_PWM_Stop(BSP_PWM_MOTOR_OUT1); + BSP_PWM_Stop(BSP_PWM_MOTOR_OUT2); + BSP_PWM_Stop(BSP_PWM_MOTOR_OUT3); + BSP_PWM_Stop(BSP_PWM_MOTOR_OUT4); +} diff --git a/User/module/xm_quadctrl.h b/User/module/xm_quadctrl.h index e8f0aca..b6916cc 100644 --- a/User/module/xm_quadctrl.h +++ b/User/module/xm_quadctrl.h @@ -4,65 +4,159 @@ extern "C" { #endif #include "device/at9s_pro.h" +#include "component/pid.h" +// 卡尔曼滤波器结构体 +typedef struct { + float Q_angle; // 过程噪声协方差（角度） + float Q_bias; // 过程噪声协方差（陀螺仪偏置） + float R_measure; // 测量噪声协方差 + float angle; // 估计角度 + float bias; // 估计陀螺仪偏置 + float P[2][2]; // 误差协方差矩阵 +} KalmanFilter; +typedef struct{ + float x; + float y; + float z; +}Quad_Vectory3f_t; -//// 传感器数据结构 -//typedef struct { -// float accel[3]; // m/s² -// float gyro[3]; // rad/s -// float baro_alt; // 气压计高度 (m) -// float speed_z; //z轴速度 -//} SensorData; +typedef struct{ + float yaw; + float pit; + float rol; +}Quad_EulrVectory3f_t; -//// 卡尔曼滤波器结构体 -//typedef struct { -// float Q_angle; // 过程噪声协方差（角度） -// float Q_bias; // 过程噪声协方差（陀螺仪偏置） -// float R_measure; // 测量噪声协方差 -// float angle; // 估计角度 -// float bias; // 估计陀螺仪偏置 -// float P[2][2]; // 误差协方差矩阵 -//} KalmanFilter; +typedef struct { + uint16_t pos_alt; + uint16_t pos_vel; + uint16_t att_agl; + uint16_t att_omg; +}Quad_CtrlFreqParams_t; -//// 控制输出结构体 -//typedef struct { -// -// struct { -// float throttle; // 总油门 [0-1] -// float roll; // 滚转控制 [-1,1] -// float pitch; // 俯仰控制 [-1,1] -// float yaw; // 偏航控制 [-1,1] -// } ControlOutput; -// -// struct { -// float throttle; // 总油门 [0-1] -// float roll; // 滚转控制 [-1,1] -// float pitch; // 俯仰控制 [-1,1] -// float yaw; // 偏航控制 [-1,1] -// } Controltarget; -//} Control_t; +typedef struct { + LowPassFilter2p_t accl_x; + LowPassFilter2p_t accl_y; + LowPassFilter2p_t accl_z; + LowPassFilter2p_t gyro_x; + LowPassFilter2p_t gyro_y; + LowPassFilter2p_t gyro_z; + LowPassFilter2p_t eulr_yaw; + LowPassFilter2p_t eulr_pit; + LowPassFilter2p_t eulr_rol; + LowPassFilter2p_t alt; + LowPassFilter2p_t vel_z; +}Quad_LowPassFilter2p_t; +typedef struct { + KPID_Params_t pit_agl; + KPID_Params_t rol_agl; + KPID_Params_t yaw_agl; + KPID_Params_t pit_omg; + KPID_Params_t rol_omg; + KPID_Params_t yaw_omg; + KPID_Params_t alt_pos; + KPID_Params_t alt_vel; +}Quad_PIDParams_t; -//// 电机配置结构体 -//typedef struct { -// float min_output; // 最小输出值 (0.0-1.0) -// float max_output; // 最大输出值 (0.0-1.0) -//} MotorConfig; +typedef struct { + KPID_t rol_omg, rol_agl; // rol轴PID + KPID_t pit_omg, pit_agl; // rol轴PID + KPID_t yaw_omg, yaw_agl; // rol轴PID + KPID_t alt_pos, alt_vel; // 高度环PID +}Quad_PID_t; -//// 混控器配置 -//typedef struct { -// MotorConfig motors[4]; // 四个电机的配置 -// float motor_output[4]; // 当前电机输出值 (0.0-1.0) -//} Mixer; +typedef struct { + KalmanFilter rol_kf, pit_kf; +}Quad_Kalman_t; +// 电机配置结构体 +typedef struct { + float min_output; // 最小输出值 (0.0-1.0) + float max_output; // 最大输出值 (0.0-1.0) +}Quad_MotorConfig_t; +typedef struct { + bool online; + bool stop; + + float throttle; + float yaw; + float rol; + float pit; + +}Quad_CMD_t; +typedef struct{ + Quad_Vectory3f_t accl; // m/s² + Quad_Vectory3f_t gyro; + Quad_EulrVectory3f_t eulr; + float alt; // 气压计加速度计融合后相对高度 (m) + float vel_z; //z轴速度 +}Quad_CurrentStatus_t; +typedef struct { + float yaw_agl; + float rol_agl; + float pit_agl; + float yaw_omg; + float rol_omg; + float pit_omg; -//void FlightController_Init(float sample_freq); -//void FlightController_Update(SensorData sensors, Control_t* output, float dt, rc); -//void MotorMixer_Init(); -//void Apply_Motor_Outputs(Control_t ctrl); -//void MotorMixer_OutStop(); + float vel; + float thrust; + + float alt; +}Quad_ExpectStatus_t; + +typedef struct{ + float yaw_omg; + float rol_agl; + float pit_agl; +}Quad_ExpectStatusLimit_t; + +typedef struct { + + float throttle; + float rol; + float pit; + float yaw; + + float mix[4]; // 混控计算中间变量 + float motor[4]; // 电机输出值 (0.0-1.0) +}Quad_Output_t; +typedef struct { + Quad_CtrlFreqParams_t ctrl_freq; // 控制频率参数 + + float baseThrottle; // 基础油门值 + + Quad_PIDParams_t pid; // PID参数 + // 低通滤波器参数 + + Quad_ExpectStatusLimit_t expect_status_limit; + + Quad_MotorConfig_t motor_limit; // 四个电机的配置 +}Quad_Params_t; + +typedef struct{ + int64_t now; + float dt; + int64_t last; + + Quad_Params_t *param; + + Quad_PID_t pid; + Quad_LowPassFilter2p_t filter; + Quad_Kalman_t kalman; + + Quad_CurrentStatus_t current_status; + Quad_ExpectStatus_t expect_status; + + Quad_Output_t output; +}Quad_t; + +int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq); +int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t cmd); +void Quad_stop(); #ifdef __cplusplus } #endif \ No newline at end of file diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c index 10f8266..fe62354 100644 --- a/User/task/atti_esti.c +++ b/User/task/atti_esti.c @@ -27,6 +27,8 @@ AHRS_Magn_t magn; AHRS_Eulr_t eulr_to_send; float accl_z_for_heightestimation; +AHRS_Eulr_t eulr_for_quad; + KPID_t imu_temp_ctrl_pid; //Chassis_IMU_t chassis_to_send; @@ -148,9 +150,10 @@ void Task_atti_esti(void *argument) { osKernelUnlock(); accl_z_for_heightestimation = bmi088.accl.z; + eulr_for_quad=eulr_to_send; /* 创建修改后的数据副本用于发送到消息队列 */ osMessageQueuePut(task_runtime.msgq.heightestimation.accl_z, &accl_z_for_heightestimation, 0, 0); - + osMessageQueuePut(task_runtime.msgq.quad.eulr, &eulr_for_quad, 0, 0); BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f)); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ diff --git a/User/task/cmd.c b/User/task/cmd.c new file mode 100644 index 0000000..3d1c828 --- /dev/null +++ b/User/task/cmd.c @@ -0,0 +1,63 @@ +/* + cmd Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/at9s_pro.h" +#include "module/at9s_pro_cmd.h" +#include "module/xm_quadctrl.h" +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN]; + DEVICE_AT9S_t at9s; + COMP_AT9S_CMD_t rc_cmd; + Quad_CMD_t cmd_for_quad; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_cmd(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ; + + osDelay(CMD_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + DEVICE_AT9S_Init(&at9s); + DEVICE_AT9S_StartDmaRecv(cmd_buffer); + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + if (DEVICE_AT9S_WaitDmaCplt(10)) { + DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s); + COMP_AT9S_CMD_ParseRc(&at9s, &rc_cmd); + DEVICE_AT9S_StartDmaRecv(cmd_buffer); + } + + cmd_for_quad.online=rc_cmd.online; + cmd_for_quad.throttle=rc_cmd.ch_l_y; + cmd_for_quad.yaw=rc_cmd.ch_l_x; + cmd_for_quad.pit=rc_cmd.ch_r_y; + cmd_for_quad.rol=rc_cmd.ch_r_x; + cmd_for_quad.stop=rc_cmd.stop; + + osMessageQueuePut(task_runtime.msgq.quad.cmd, &cmd_for_quad, 0, 0); + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/config.yaml b/User/task/config.yaml index 051f664..5cbd84a 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -1,4 +1,3 @@ - - delay: 0 description: '' freq_control: true @@ -6,7 +5,6 @@ function: Task_atti_esti name: atti_esti stack: 256 - - delay: 0 description: '' freq_control: true @@ -14,7 +12,6 @@ function: Task_blink name: blink stack: 256 - - delay: 300 description: '' freq_control: true @@ -22,19 +19,17 @@ function: Task_height_cal name: height_cal stack: 256 - -- delay: 500 +- delay: 0 description: '' freq_control: true - frequency: 500.0 - function: Task_main_control - name: main_control - stack: 256 - + frequency: 1000.0 + function: Task_quad_ctrl + name: quad_ctrl + stack: 512 - delay: 0 description: '' freq_control: true frequency: 500.0 - function: Task_rc - name: rc - stack: 256 \ No newline at end of file + function: Task_cmd + name: cmd + stack: 256 diff --git a/User/task/height_cal.c b/User/task/height_cal.c index 6bb8dcc..31262ca 100644 --- a/User/task/height_cal.c +++ b/User/task/height_cal.c @@ -1,8 +1,11 @@ /* height_cal Task + */ /* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ #include "task\user_task.h" #include "timers.h" #include "device/bmi088.h" @@ -10,43 +13,43 @@ #include "component/ahrs.h" #include "module/HeightEstimation.h" +/* USER INCLUDE END */ + /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ - /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ - - +/* USER STRUCT BEGIN */ float accl_z_buffer; float estimated_velocity; float estimated_height; +/* USER STRUCT END */ + /* Private function --------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */ - -/** - * \brief ps2 Task - * - * \param argument - */ void Task_height_cal(void *argument) { - (void)argument; + (void)argument; /* 未使用argument，消除警告 */ + /* 计算任务运行到指定频率需要等待的tick数 */ const uint32_t delay_tick = osKernelGetTickFreq() / HEIGHT_CAL_FREQ; - osDelay(HEIGHT_CAL_INIT_DELAY); - uint32_t tick = osKernelGetTickCount(); - + osDelay(HEIGHT_CAL_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ HeightEstimation_Init(HEIGHT_CAL_FREQ); + /* USER CODE INIT END */ + while (1) { - tick += delay_tick; - - /*User code begin*/ + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ osMessageQueueGet(task_runtime.msgq.heightestimation.accl_z, &accl_z_buffer, NULL, 0); HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_z_buffer); -// osMessageQueuePut(task_runtime.msgq., &estimated_height, 0, 0); - /*User code end*/ - - osDelayUntil(tick); + osMessageQueuePut(task_runtime.msgq.quad.alt, &estimated_height, 0, 0); + osMessageQueuePut(task_runtime.msgq.quad.vel, &estimated_velocity, 0, 0); + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } -} + +} \ No newline at end of file diff --git a/User/task/init.c b/User/task/init.c index 8378087..71a5fab 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -8,6 +8,7 @@ /* USER INCLUDE BEGIN */ #include "component/ahrs.h" +#include "module/xm_quadctrl.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -31,14 +32,18 @@ void Task_Init(void *argument) { /* 创建任务线程 */ task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti); - task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink); task_runtime.thread.height_cal = osThreadNew(Task_height_cal, NULL, &attr_height_cal); -// task_runtime.thread.main_ctrl = osThreadNew(Task_main_ctrl, NULL, &attr_main_ctrl); + task_runtime.thread.quad_ctrl = osThreadNew(Task_quad_ctrl, NULL, &attr_quad_ctrl); + task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); // 创建消息队列 /* USER MESSAGE BEGIN */ task_runtime.msgq.heightestimation.accl_z= osMessageQueueNew(5, sizeof(float), NULL); + task_runtime.msgq.quad.eulr= osMessageQueueNew(3, sizeof(AHRS_Eulr_t), NULL); + task_runtime.msgq.quad.alt= osMessageQueueNew(3, sizeof(float), NULL); + task_runtime.msgq.quad.vel= osMessageQueueNew(3, sizeof(float), NULL); + task_runtime.msgq.quad.cmd= osMessageQueueNew(3, sizeof(Quad_CMD_t), NULL); /* USER MESSAGE END */ osKernelUnlock(); // 解锁内核 diff --git a/User/task/main_control.c b/User/task/main_control.c deleted file mode 100644 index 1d8137e..0000000 --- a/User/task/main_control.c +++ /dev/null @@ -1,135 +0,0 @@ -/* - main_control Task -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task\user_task.h" -#include "main.h" -#include "module/xm_quadctrl.h" -#include "device/buzzer.h" -#include "bsp/time.h" -#include "bsp/pwm.h" -#include "component/ahrs.h" -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -//uint32_t main_control_cnt_last; -//float main_control_dt; - -//SensorData sensors = {0}; -// main_control_rc; - -//uint8_t main_control_running_states; -/* Private function --------------------------------------------------------- */ - -/* Exported functions ------------------------------------------------------- */ -/** - * \brief main_control Task - * - * \param argument δʹ - */ - -// Control_t ctrl; -void Task_main_control(void *argument) { - (void)argument; /* δʹargument */ - - /* еָƵҪȴtick */ - const uint32_t delay_tick = osKernelGetTickFreq() / MAIN_CTRL_INIT_DELAY; - - osDelay(MAIN_CTRL_FREQ); /* ʱһʱٿ */ - - - uint32_t tick = osKernelGetTickCount(); /* Ƶʵļʱ */ - -// FlightController_Init(MAIN_CTRL_INIT_DELAY); -// BSP_PWM_Start(BSP_PWM_MOTOR_OUT1); -// BSP_PWM_Start(BSP_PWM_MOTOR_OUT2); -// BSP_PWM_Start(BSP_PWM_MOTOR_OUT3); -// BSP_PWM_Start(BSP_PWM_MOTOR_OUT4); - while (1) { - tick += delay_tick; /* һʱ */ - - /*User code begin*/ -// AHRS_Accl_t accl_data; -// AHRS_Gyro_t gyro_data; -// float fixed_height_buffer; -// float speed_z_buffer; -// osMessageQueueGet(task_runtime.msgq.accl, &accl_data, NULL, 0); -// osMessageQueueGet(task_runtime.msgq.gyro, &gyro_data, NULL, 0); -// osMessageQueueGet(task_runtime.msgq.fixed_height, &fixed_height_buffer, NULL, 0); -// osMessageQueueGet(task_runtime.msgq.speed_z, &speed_z_buffer, NULL, 0); -// osMessageQueueGet(task_runtime.msgq.rc, &main_control_rc, NULL, 0); -// sensors.accel[0] = accl_data.x; -// sensors.accel[1] = accl_data.y; -// sensors.accel[2] = accl_data.z; -// sensors.gyro[0] = gyro_data.x; -// sensors.gyro[1] = gyro_data.y; -// sensors.gyro[2] = gyro_data.z; -// sensors.baro_alt = fixed_height_buffer; -// sensors.speed_z = speed_z_buffer; -// // ȡң - -// main_control_dt = DWT_GetDeltaT(&main_control_cnt_last); - -// // ִпƼ -//// Control_t ctrl; -// FlightController_Update(sensors, &ctrl, main_control_dt, main_control_rc); -// float output_check=0; -// switch(main_control_running_states){ -// case 0: -// output_check = 0.275+0.21*0.8*((main_control_rc.Rocker_LY-0.5)*2); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, output_check); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, output_check); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, output_check); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, output_check); -// if(main_control_rc.Key_R_Up == 1){ -// main_control_running_states=1; -// }else if(main_control_rc.Key_R_Right == 1){ -// main_control_running_states=4; -// } -// break; -// case 1: -// BSP_BUZZER_Set(BSP_BUZZER_ON, BSP_BUZZER_C5, 1); -// osDelay(500); -// BSP_BUZZER_Stop(); -// osDelay(2000); -// main_control_running_states=2; -// if(main_control_rc.Key_R_Right == 1){ -// main_control_running_states=4; -// } -// break; -// case 2: -// MotorMixer_Init(); -// Apply_Motor_Outputs(ctrl); -// if(main_control_rc.Key_R_Down == 1){ -// main_control_running_states=3; -// }else if(main_control_rc.Key_R_Right == 1){ -// main_control_running_states=4; -// } -// break; -// case 3: -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, 0.275); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, 0.275); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, 0.275); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, 0.275); -// main_control_running_states=0; -// if(main_control_rc.Key_R_Right == 1){ -// main_control_running_states=4; -// } -// break; -// case 4: -// MotorMixer_OutStop(); -// break; -// default: -// break; -// } -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, 0.275); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, 0.275); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, 0.275); -// BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, 0.275); - /*User code end*/ - - osDelayUntil(tick); /* нȴһλ */ - } -} diff --git a/User/task/quad_ctrl.c b/User/task/quad_ctrl.c new file mode 100644 index 0000000..1c96d67 --- /dev/null +++ b/User/task/quad_ctrl.c @@ -0,0 +1,50 @@ +/* + quad_ctrl Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "module/xm_quadctrl.h" +#include "module/config.h" +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +Quad_t q; +Quad_CMD_t quad_cmd; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_quad_ctrl(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / QUAD_CTRL_FREQ; + + osDelay(QUAD_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + Quad_Init(&q,&Config_GetRobotParam()->quad_params,QUAD_CTRL_FREQ); + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + osMessageQueueGet(task_runtime.msgq.quad.eulr, &q.current_status.eulr, NULL, 0); + osMessageQueueGet(task_runtime.msgq.quad.alt, &q.current_status.alt, NULL, 0); + osMessageQueueGet(task_runtime.msgq.quad.vel, &q.current_status.vel_z, NULL, 0); + osMessageQueueGet(task_runtime.msgq.quad.cmd, &quad_cmd, NULL, 0); + Quad_Ctrl(&q,quad_cmd); + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/user_task.c b/User/task/user_task.c index 939a165..cf60ce1 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -14,11 +14,6 @@ const osThreadAttr_t attr_atti_esti = { .priority = osPriorityNormal, .stack_size = 256 * 4, }; -const osThreadAttr_t attr_rc = { - .name = "rc", - .priority = osPriorityNormal, - .stack_size = 256 * 4, -}; const osThreadAttr_t attr_blink = { .name = "blink", .priority = osPriorityNormal, @@ -29,8 +24,13 @@ const osThreadAttr_t attr_height_cal = { .priority = osPriorityNormal, .stack_size = 256 * 4, }; -const osThreadAttr_t attr_main_ctrl = { - .name = "main_ctrl", +const osThreadAttr_t attr_quad_ctrl = { + .name = "quad_ctrl", + .priority = osPriorityNormal, + .stack_size = 512 * 4, +}; +const osThreadAttr_t attr_cmd = { + .name = "cmd", .priority = osPriorityNormal, .stack_size = 256 * 4, }; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h index 157e4a3..2c560a1 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -13,19 +13,19 @@ extern "C" { /* USER INCLUDE END */ /* Exported constants ------------------------------------------------------- */ /* 任务运行频率 */ -#define ATTI_ESTI_FREQ (500.0) -#define RC_FREQ (500.0) +#define ATTI_ESTI_FREQ (1000.0) #define BLINK_FREQ (100.0) #define HEIGHT_CAL_FREQ (500.0) -#define MAIN_CTRL_FREQ (500.0) +#define QUAD_CTRL_FREQ (1000.0) +#define CMD_FREQ (500.0) /* 任务初始化延时ms */ #define TASK_INIT_DELAY (100u) #define ATTI_ESTI_INIT_DELAY (0) -#define RC_INIT_DELAY (0) #define BLINK_INIT_DELAY (0) #define HEIGHT_CAL_INIT_DELAY (300) -#define MAIN_CTRL_INIT_DELAY (500) +#define QUAD_CTRL_INIT_DELAY (0) +#define CMD_INIT_DELAY (0) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -36,10 +36,10 @@ typedef struct { /* 各任务，也可以叫做线程 */ struct { osThreadId_t atti_esti; - osThreadId_t rc; osThreadId_t blink; osThreadId_t height_cal; - osThreadId_t main_ctrl; + osThreadId_t quad_ctrl; + osThreadId_t cmd; } thread; /* USER MESSAGE BEGIN */ @@ -50,6 +50,13 @@ typedef struct { { osMessageQueueId_t accl_z; /* z轴加速度 */ }heightestimation; + + struct{ + osMessageQueueId_t eulr; + osMessageQueueId_t alt; + osMessageQueueId_t vel; + osMessageQueueId_t cmd; + }quad; } msgq; /* USER MESSAGE END */ @@ -68,28 +75,28 @@ typedef struct { /* 各任务的stack使用 */ struct { UBaseType_t atti_esti; - UBaseType_t rc; UBaseType_t blink; UBaseType_t height_cal; - UBaseType_t main_ctrl; + UBaseType_t quad_ctrl; + UBaseType_t cmd; } stack_water_mark; /* 各任务运行频率 */ struct { float atti_esti; - float rc; float blink; float height_cal; - float main_ctrl; + float quad_ctrl; + float cmd; } freq; /* 任务最近运行时间 */ struct { float atti_esti; - float rc; float blink; float height_cal; - float main_ctrl; + float quad_ctrl; + float cmd; } last_up_time; } Task_Runtime_t; @@ -100,18 +107,18 @@ extern Task_Runtime_t task_runtime; /* 初始化任务句柄 */ extern const osThreadAttr_t attr_init; extern const osThreadAttr_t attr_atti_esti; -extern const osThreadAttr_t attr_rc; extern const osThreadAttr_t attr_blink; extern const osThreadAttr_t attr_height_cal; -extern const osThreadAttr_t attr_main_ctrl; +extern const osThreadAttr_t attr_quad_ctrl; +extern const osThreadAttr_t attr_cmd; /* 任务函数声明 */ void Task_Init(void *argument); void Task_atti_esti(void *argument); -void Task_rc(void *argument); void Task_blink(void *argument); void Task_height_cal(void *argument); -void Task_main_ctrl(void *argument); +void Task_quad_ctrl(void *argument); +void Task_cmd(void *argument); #ifdef __cplusplus }