From 67d9a1064793d6aaa4e173b564539c8b63c8e493 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Thu, 2 Oct 2025 23:15:02 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E5=8D=A1=E5=BC=B9?= =?UTF-8?q?=E6=A3=80=E6=B5=8B=EF=BC=8C=E6=B5=8B=E8=AF=95=E4=BA=86=E5=85=AD?= =?UTF-8?q?=E6=91=A9=E6=93=A6=E8=BD=AE=E5=90=8C=E6=97=B6=E8=BD=AC=E4=BD=86?= =?UTF-8?q?err=E7=8E=AF=E8=BE=93=E5=87=BA0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/shoot.uvguix.yxm23 | 428 ++--- MDK-ARM/shoot/config.o | Bin 3884 -> 3996 bytes MDK-ARM/shoot/shoot.axf | Bin 366448 -> 368648 bytes MDK-ARM/shoot/shoot.build_log.htm | 6 +- MDK-ARM/shoot/shoot.hex | 2661 +++++++++++++++-------------- MDK-ARM/shoot/shoot.htm | 1473 ++++++++-------- MDK-ARM/shoot/shoot.map | 1897 ++++++++++---------- MDK-ARM/shoot/shoot_control.o | Bin 18720 -> 21500 bytes MDK-ARM/shoot/shoot_ctrl.o | Bin 8448 -> 8932 bytes MDK-ARM/shoot/shoot_shoot.dep | 16 +- MDK-ARM/shoot/user_math.o | Bin 7840 -> 7840 bytes Ozone/shoot.jdebug | 1 - Ozone/shoot.jdebug.user | 29 +- User/component/user_math.c | 15 +- User/module/config.c | 43 +- User/module/shoot_control.c | 111 +- User/module/shoot_control.h | 34 +- User/task/shoot_ctrl.c | 2 +- 18 files changed, 3443 insertions(+), 3273 deletions(-) diff --git a/MDK-ARM/shoot.uvguix.yxm23 b/MDK-ARM/shoot.uvguix.yxm23 index d1350b8..94e1517 100644 --- a/MDK-ARM/shoot.uvguix.yxm23 +++ b/MDK-ARM/shoot.uvguix.yxm23 @@ -101,10 +101,10 @@ -1 - 174 - 14 - 1059 - 973 + 93 + 157 + 1202 + 892 @@ -134,7 +134,7 @@ 16 - D900000066000000F0040000F8000000 + 7E010000CB000000950500005D010000 @@ -530,7 +530,7 @@ 0 16 - 0300000086030000A8060000E8030000 + 030000008603000002040000E8030000 16 @@ -1150,7 +1150,7 @@ 0 16 - 0300000066000000D200000052030000 + 0300000066000000D200000036020000 16 @@ -1170,7 +1170,7 @@ 0 16 - 0300000086030000A8060000E8030000 + 030000008603000002040000E8030000 16 @@ -1190,7 +1190,7 @@ 0 16 - 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Project:

D:\CUBEMX\shoot\MDK-ARM\shoot.uvprojx -Project File Date: 09/30/2025 +Project File Date: 10/02/2025

Output:

*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' Build target 'shoot' Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'. -compiling shoot_control.c... -linking... -Program Size: Code=32304 RO-data=660 RW-data=196 ZI-data=22068 -FromELF: creating hex file... "shoot\shoot.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

diff --git a/MDK-ARM/shoot/shoot.hex b/MDK-ARM/shoot/shoot.hex index ebe79df..f195c95 100644 --- a/MDK-ARM/shoot/shoot.hex +++ b/MDK-ARM/shoot/shoot.hex @@ -1,8 +1,8 @@ :020000040800F2 -:10000000F85600202902000825340008392B000882 -:10001000C5320008D10B0008B943000800000000F9 +:10000000105B00202902000825340008392B000865 +:10001000C5320008D10B0008194500080000000097 :100020000000000000000000000000001137000880 -:100030004914000800000000A1360008493E0008ED +:100030004914000800000000A1360008A53F000890 :10004000430200084302000843020008430200087C :10005000430200084302000843020008430200086C :10006000430200084302000843020008430200085C @@ -26,18 +26,18 @@ :10018000430200084302000800F002F800F03CF8C7 :100190000AA090E8000C82448344AAF10107DA45E2 :1001A00001D100F031F8AFF2090EBAE80F0013F0F8 -:1001B000010F18BFFB1A43F001031847E87E000047 -:1001C000087F0000103A24BF78C878C1FAD85207D7 +:1001B000010F18BFFB1A43F00103184748800000E5 +:1001C00068800000103A24BF78C878C1FAD8520776 :1001D00024BF30C830C144BF04680C6070470000C1 :1001E0000023002400250026103A28BF78C1FBD840 :1001F000520728BF30C148BF0B6070471FB507F0DA -:10020000C8FE1FBD10B510BD00F062F91146FFF722 -:10021000F5FF04F07BF900F080F903B4FFF7F2FF7B +:1002000078FF1FBD10B510BD00F062F91146FFF771 +:10021000F5FF04F02BFA00F080F903B4FFF7F2FFCA :1002200003BC00F083F900000948804709480047F3 :10023000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE796 :10024000FEE7FEE704480549054A064B70470000F3 -:10025000013F000889010008F8500020F8560020EE -:10026000F8520020F852002053EA020C00F0698096 +:100250005D4000088901000810550020105B002057 +:10026000105700201057002053EA020C00F069805C :100270002DE9F04B4FF00006002B1FBFB3FA83F5BA :1002800003FA05F424FA05F65E4012BF1643B2FAEB :1002900082F502FA05F4C5F120051EBF22FA05FC1D @@ -75,7 +75,7 @@ :10049000704748BF20F8022B11F0804F18BF00F8BA :1004A000012B704770477047704710B500F008F88F :1004B000006810BD10B5044600F002F8046010BDDD -:1004C00000487047C800002000487047C80000205E +:1004C00000487047F000002000487047F00000200E :1004D0007546FFF7F9FFAE4605006946534620F022 :1004E0000700854618B020B5FFF7ACFEBDE82040F8 :1004F0004FF000064FF000074FF000084FF0000BE0 @@ -85,57 +85,57 @@ :10053000ABBEFEE72600020070470000B1EE601A75 :10054000B4EE600AF1EE10FAB4EE401AC8BFB0EE95 :10055000600AF1EE10FAC8BFB0EE410A7047000021 -:100560002DE9F04381B040F64C18C2F2000806466F +:100560002DE9F04381B040F67818C2F20008064643 :10057000D8F8000014460D466421002A08BF0A245A -:1005800004F056F908B1FB242FE040F64819C2F2F6 +:1005800004F006FA08B1FB242FE040F67419C2F219 :100590000009D9F8000000E0006930B10178B142EB :1005A000FAD14168A942F7D11AE0142000F0BAFA52 -:1005B00088B1074620461C21002204F0A1F8B8604B +:1005B00088B1074620461C21002204F051F9B8609A :1005C00058B1D9F800003C7300243E707D6038615A :1005D000C9F8007005E0FE2403E0384600F09EFAFA -:1005E000FF24D8F8000004F099F960B201B0BDE82A -:1005F000F08300007047000040F64812C2F200028B +:1005E000FF24D8F8000004F049FA60B201B0BDE879 +:1005F000F08300007047000040F67412C2F200025F :10060000126800E01269002A04BF002070471378C6 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+:1082A000CDCCCC3E0AD7233D0000803E0000803E6E +:1082B00000002042000080BF000000400000803F1E +:1082C000CDCCCC3D0AD7233DCDCC4C3F0000803FE8 +:1082D000000080BFDB0FC9400000803F0000C03FAE +:1082E0009A99993E0000003FCDCC4C3ECDCC4C3FFE +:1082F000000080BF000080BF0000F0410000F0419E +:108300000000F0410000F0410100000010000000FA +:08831000AAAAAAAA00000000BD :040000050800018965 :00000001FF diff --git a/MDK-ARM/shoot/shoot.htm b/MDK-ARM/shoot/shoot.htm index d238f31..27c782e 100644 --- a/MDK-ARM/shoot/shoot.htm +++ b/MDK-ARM/shoot/shoot.htm @@ -3,7 +3,7 @@ Static Call Graph - [shoot\shoot.axf]

Static Call Graph for image shoot\shoot.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Oct 1 23:46:15 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Oct 2 22:48:54 2025

Maximum Stack Usage = 304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -24,8 +24,8 @@ Mutually Recursive functions
  • MemManage_Handler   ⇒   MemManage_Handler
  • NMI_Handler   ⇒   NMI_Handler
  • UsageFault_Handler   ⇒   UsageFault_Handler
    -
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    -
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer
    +
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    +
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer

    @@ -157,9 +157,9 @@ Global Symbols

    [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 @@ -167,7 +167,7 @@ Global Symbols
      [Called By]
      • >>   __scatterload_copy
      -

      __scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), 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 @@ -177,70 +177,70 @@ 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))

        [Called By]

        • >>   __main
        • >>   __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 @@ -253,7 +253,7 @@ 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 @@ -263,7 +263,7 @@ 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 @@ -273,7 +273,7 @@ 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 @@ -522,11 +522,11 @@ Global Symbols
            • >>   HAL_RCC_GetSysClockFreq
            -

            _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 +

              [Called By]
              • >>   prvCopyDataToQueue +
              • >>   prvCopyDataFromQueue
              • >>   BSP_CAN_RxFifo1Callback
              • >>   BSP_CAN_RxFifo0Callback
              @@ -535,40 +535,41 @@ Global Symbols

              [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 +

                  [Called By]
                  • >>   SystemClock_Config
                  • >>   MOTOR_RM_CreateCANManager
                  • >>   BSP_CAN_Init -
                  • >>   Shoot_Init +
                  • >>   Shoot_ResetOutput

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

                  [Called By]

                  • >>   MOTOR_RM_Register +
                  • >>   Shoot_Init
                  -

                  __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 @@ -576,11 +577,11 @@ 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 @@ -600,17 +601,17 @@ 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 @@ -635,11 +636,11 @@ 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)

                      AbsClip (Thumb, 34 bytes, Stack size 0 bytes, user_math.o(.text.AbsClip))

                      [Called By]

                      • >>   PID_Calc @@ -674,7 +675,7 @@ Global Symbols
                      • >>   osMutexNew
                      • >>   __aeabi_memclr4
                      -
                      [Called By]
                      • >>   Shoot_Init +
                        [Called By]
                        • >>   Shoot_Init

                        BSP_CAN_ParseId (Thumb, 20 bytes, Stack size 8 bytes, can_1.o(.text.BSP_CAN_ParseId)) @@ -801,7 +802,7 @@ 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)) +

                      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 @@ -824,7 +825,7 @@ Global Symbols

                        [Called By]
                        • >>   PID_Calc
                        -

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

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

                        [Called By]

                        • >>   Task_shoot_ctrl
                        @@ -837,7 +838,7 @@ Global Symbols
                        [Called By]
                        • >>   Task_rc
                        -

                        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 @@ -879,7 +880,7 @@ Global Symbols

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

                        [Called By]

                        • >>   HAL_UART_MspInit -
                        • >>   SystemClock_Config +
                        • >>   SystemClock_Config
                        • >>   MX_USART6_UART_Init
                        • >>   MX_USART3_UART_Init
                        • >>   MX_CAN2_Init @@ -1116,7 +1117,7 @@ Global Symbols
                        • >>   BSP_CAN_RxFifo0Callback
                        -

                        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
                        @@ -1185,7 +1186,7 @@ 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)) @@ -1222,7 +1223,7 @@ Global Symbols


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

                        HAL_SYSTICK_Config (Thumb, 8 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)) @@ -1233,7 +1234,7 @@ Global Symbols
                        [Called By]

                        • >>   HAL_InitTick
                        -

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

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

                        [Called By]

                        • >>   UART_DMARxHalfCplt
                        • >>   UART_DMAReceiveCplt
                        @@ -1304,7 +1305,7 @@ Global Symbols

                      [Called By]
                      • >>   PID_Calc
                      • >>   LowPassFilter2p_Reset -
                      • >>   Shoot_Control +
                      • >>   Shoot_RunningFSM
                      • >>   Chassis_UpdateFeedback
                      @@ -1314,7 +1315,7 @@ Global Symbols
                      [Calls]
                      • >>   __hardfp_tanf

                      [Called By]
                      • >>   PID_Init -
                      • >>   Shoot_Init +
                      • >>   Shoot_Init

                      LowPassFilter2p_Reset (Thumb, 92 bytes, Stack size 24 bytes, filter.o(.text.LowPassFilter2p_Reset)) @@ -1324,7 +1325,7 @@ Global Symbols

                    • >>   __ARM_isfinitef

                    [Called By]
                    • >>   PID_Reset -
                    • >>   Shoot_ResetCalu +
                    • >>   Shoot_ResetCalu

                    MOTOR_RM_Ctrl (Thumb, 224 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl)) @@ -1334,7 +1335,7 @@ Global Symbols

                  • >>   BSP_CAN_WaitTxMailboxEmpty
                  • >>   BSP_CAN_TransmitStdDataFrame
                  -
                  [Called By]
                  • >>   Shoot_Control +
                    [Called By]
                    • >>   Shoot_RunningFSM

                    MOTOR_RM_GetMotor (Thumb, 80 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor)) @@ -1357,7 +1358,7 @@ Global Symbols

                  • >>   BSP_CAN_RegisterId
                  • >>   __aeabi_memclr8
                  -
                  [Called By]
                  • >>   Shoot_Init +
                    [Called By]
                    • >>   Shoot_Init

                    MOTOR_RM_Relax (Thumb, 16 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_Relax)) @@ -1365,7 +1366,7 @@ Global Symbols


                  [Calls]
                  • >>   MOTOR_RM_SetOutput
                  -
                  [Called By]
                  • >>   Shoot_Control +
                    [Called By]
                    • >>   Shoot_RunningFSM

                    MOTOR_RM_SetOutput (Thumb, 158 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput)) @@ -1377,7 +1378,7 @@ Global Symbols

                  • >>   MOTOR_RM_GetCANManager

                  [Called By]
                  • >>   MOTOR_RM_Relax -
                  • >>   Shoot_Control +
                  • >>   Shoot_RunningFSM

                  MOTOR_RM_Update (Thumb, 198 bytes, Stack size 64 bytes, motor_rm.o(.text.MOTOR_RM_Update)) @@ -1426,7 +1427,7 @@ Global Symbols
                  [Called By]

                  • >>   main
                  -

                  MX_GPIO_Init (Thumb, 116 bytes, Stack size 4 bytes, gpio.o(.text.MX_GPIO_Init)) +

                  MX_GPIO_Init (Thumb, 116 bytes, Stack size 4 bytes, gpio.o(.text.MX_GPIO_Init))

                  [Stack]

                  • Max Depth = 4
                  • Call Chain = MX_GPIO_Init

                  [Called By]
                  • >>   main @@ -1472,7 +1473,7 @@ Global Symbols
                  • >>   CircleError
                  • >>   AbsClip
                  -
                  [Called By]
                  • >>   Shoot_Control +
                    [Called By]
                    • >>   Shoot_RunningFSM

                    PID_Init (Thumb, 144 bytes, Stack size 32 bytes, pid.o(.text.PID_Init)) @@ -1482,7 +1483,7 @@ Global Symbols

                  • >>   __ARM_isfinitef
                  • >>   LowPassFilter2p_Init
                  -
                  [Called By]
                  • >>   Shoot_Init +
                    [Called By]
                    • >>   Shoot_Init

                    PID_Reset (Thumb, 40 bytes, Stack size 8 bytes, pid.o(.text.PID_Reset)) @@ -1491,12 +1492,12 @@ Global Symbols
                    [Calls]

                    • >>   LowPassFilter2p_Reset

                    [Called By]
                    • >>   PID_Init -
                    • >>   Shoot_ResetCalu +
                    • >>   Shoot_ResetCalu
                    -

                    PID_ResetIntegral (Thumb, 14 bytes, Stack size 0 bytes, pid.o(.text.PID_ResetIntegral)) -

                    [Called By]

                    • >>   Shoot_ResetIntegral -
                    • >>   Shoot_Control +

                      PID_ResetIntegral (Thumb, 14 bytes, Stack size 0 bytes, pid.o(.text.PID_ResetIntegral)) +

                      [Called By]

                      • >>   Shoot_RunningFSM +
                      • >>   Shoot_ResetIntegral

                      PendSV_Handler (Thumb, 100 bytes, Stack size 0 bytes, port.o(.text.PendSV_Handler)) @@ -1507,31 +1508,22 @@ Global Symbols

                      SVC_Handler (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.SVC_Handler))
                      [Address Reference Count : 1]

                      • startup_stm32f407xx.o(RESET)
                      -

                      Shoot_CaluTargetAngle (Thumb, 140 bytes, Stack size 0 bytes, shoot_control.o(.text.Shoot_CaluTargetAngle)) -

                      [Called By]

                      • >>   Shoot_Control +

                        Shoot_CaluTargetAngle (Thumb, 140 bytes, Stack size 0 bytes, shoot_control.o(.text.Shoot_CaluTargetAngle)) +

                        [Called By]

                        • >>   Shoot_RunningFSM
                        -

                        Shoot_Control (Thumb, 1056 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control)) -

                        [Stack]

                        • Max Depth = 224
                        • Call Chain = Shoot_Control ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_WaitTxMailboxEmpty ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +

                          Shoot_Control (Thumb, 108 bytes, Stack size 24 bytes, shoot_control.o(.text.Shoot_Control)) +

                          [Stack]

                          • Max Depth = 256 + Unknown Stack Size +
                          • Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_WaitTxMailboxEmpty ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                          -
                          [Calls]
                          • >>   ScaleSumTo1 -
                          • >>   PID_ResetIntegral -
                          • >>   PID_Calc -
                          • >>   LowPassFilter2p_Apply -
                          • >>   MOTOR_RM_SetOutput -
                          • >>   MOTOR_RM_Relax -
                          • >>   MOTOR_RM_Ctrl -
                          • >>   BSP_TIME_Get_us +
                            [Calls]
                            • >>   BSP_TIME_Get_us
                            • >>   __aeabi_ul2f -
                            • >>   Shoot_ResetOutput -
                            • >>   Shoot_ResetIntegral -
                            • >>   Shoot_ResetCalu -
                            • >>   Shoot_CaluTargetAngle +
                            • >>   Shoot_JamDetectionFSM

                            [Called By]
                            • >>   Task_shoot_ctrl
                            -

                            Shoot_Init (Thumb, 234 bytes, Stack size 40 bytes, shoot_control.o(.text.Shoot_Init)) +

                            Shoot_Init (Thumb, 234 bytes, Stack size 40 bytes, shoot_control.o(.text.Shoot_Init))

                            [Stack]

                            • Max Depth = 280 + Unknown Stack Size
                            • Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                            @@ -1539,36 +1531,69 @@ Global Symbols
                          • >>   LowPassFilter2p_Init
                          • >>   MOTOR_RM_Register
                          • >>   BSP_CAN_Init -
                          • >>   __aeabi_memclr4 +
                          • >>   __aeabi_memclr8

                          [Called By]
                          • >>   Task_shoot_ctrl
                          -

                          Shoot_ResetCalu (Thumb, 148 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_ResetCalu)) +

                          Shoot_JamDetectionFSM (Thumb, 276 bytes, Stack size 8 bytes, shoot_control.o(.text.Shoot_JamDetectionFSM)) +

                          [Stack]

                          • Max Depth = 232 + Unknown Stack Size +
                          • Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_WaitTxMailboxEmpty ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +
                          +
                          [Calls]
                          • >>   Shoot_RunningFSM +
                          +
                          [Called By]
                          • >>   Shoot_Control +
                          + +

                          Shoot_ResetCalu (Thumb, 152 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_ResetCalu))

                          [Stack]

                          • Max Depth = 104
                          • Call Chain = Shoot_ResetCalu ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply

                          [Calls]
                          • >>   PID_Reset
                          • >>   LowPassFilter2p_Reset
                          -
                          [Called By]
                          • >>   Shoot_Control +
                            [Called By]
                            • >>   Shoot_RunningFSM
                            -

                            Shoot_ResetIntegral (Thumb, 66 bytes, Stack size 16 bytes, shoot_control.o(.text.Shoot_ResetIntegral)) +

                            Shoot_ResetIntegral (Thumb, 68 bytes, Stack size 16 bytes, shoot_control.o(.text.Shoot_ResetIntegral))

                            [Stack]

                            • Max Depth = 16
                            • Call Chain = Shoot_ResetIntegral
                            -
                            [Calls]
                            • >>   PID_ResetIntegral +
                              [Calls]
                              • >>   PID_ResetIntegral
                              -
                              [Called By]
                              • >>   Shoot_Control +
                                [Called By]
                                • >>   Shoot_RunningFSM
                                -

                                Shoot_ResetOutput (Thumb, 38 bytes, Stack size 0 bytes, shoot_control.o(.text.Shoot_ResetOutput)) -

                                [Called By]

                                • >>   Shoot_Control +

                                  Shoot_ResetOutput (Thumb, 38 bytes, Stack size 8 bytes, shoot_control.o(.text.Shoot_ResetOutput)) +

                                  [Stack]

                                  • Max Depth = 8 + Unknown Stack Size +
                                  • Call Chain = Shoot_ResetOutput +
                                  +
                                  [Calls]
                                  • >>   __aeabi_memclr4 +
                                  +
                                  [Called By]
                                  • >>   Shoot_RunningFSM +
                                  + +

                                  Shoot_RunningFSM (Thumb, 1016 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_RunningFSM)) +

                                  [Stack]

                                  • Max Depth = 224 + Unknown Stack Size +
                                  • Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_WaitTxMailboxEmpty ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +
                                  +
                                  [Calls]
                                  • >>   ScaleSumTo1 +
                                  • >>   PID_ResetIntegral +
                                  • >>   PID_Calc +
                                  • >>   LowPassFilter2p_Apply +
                                  • >>   MOTOR_RM_SetOutput +
                                  • >>   MOTOR_RM_Relax +
                                  • >>   MOTOR_RM_Ctrl +
                                  • >>   Shoot_ResetOutput +
                                  • >>   Shoot_ResetIntegral +
                                  • >>   Shoot_ResetCalu +
                                  • >>   Shoot_CaluTargetAngle +
                                  +
                                  [Called By]
                                  • >>   Shoot_JamDetectionFSM

                                  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) @@ -1576,13 +1601,13 @@ 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
                                        @@ -1600,31 +1625,31 @@ Global Symbols

                                        Task_Init (Thumb, 100 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 +
                                          • >>   osKernelUnlock +
                                          • >>   osKernelLock

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

                                          Task_rc (Thumb, 152 bytes, Stack size 0 bytes, rc.o(.text.Task_rc))

                                          [Stack]

                                          • Max Depth = 152
                                          • Call Chain = Task_rc ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                          -
                                          [Calls]
                                          • >>   COMP_AT9S_CMD_ParseRc +
                                            [Calls]
                                            • >>   COMP_AT9S_CMD_ParseRc
                                            • >>   DEVICE_AT9S_WaitDmaCplt
                                            • >>   DEVICE_AT9S_StartDmaRecv -
                                            • >>   DEVICE_AT9S_ParseRaw +
                                            • >>   DEVICE_AT9S_ParseRaw
                                            • >>   DEVICE_AT9S_Init
                                            • >>   osMessageQueuePut
                                            • >>   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)
                                            @@ -1634,14 +1659,14 @@ Global Symbols

                                          [Calls]
                                          • >>   osMessageQueueGet
                                          • >>   osKernelGetTickFreq -
                                          • >>   osKernelGetTickCount -
                                          • >>   osDelayUntil +
                                          • >>   osKernelGetTickCount +
                                          • >>   osDelayUntil
                                          • >>   osDelay -
                                          • >>   __aeabi_ui2d -
                                          • >>   __aeabi_d2uiz -
                                          • >>   __aeabi_ddiv -
                                          • >>   Config_GetRobotParam -
                                          • >>   Shoot_Init +
                                          • >>   __aeabi_ui2d +
                                          • >>   __aeabi_d2uiz +
                                          • >>   __aeabi_ddiv +
                                          • >>   Config_GetRobotParam +
                                          • >>   Shoot_Init
                                          • >>   Shoot_Control
                                          • >>   Chassis_UpdateFeedback
                                          @@ -1662,25 +1687,25 @@ 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, 46 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_GPIO_Init +
                                              • >>   MX_GPIO_Init
                                              • >>   MX_FREERTOS_Init
                                              • >>   MX_DMA_Init
                                              • >>   MX_CAN2_Init @@ -1693,27 +1718,27 @@ 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]
                                                  • >>   BSP_CAN_WaitTxMailboxEmpty
                                                  • >>   Task_shoot_ctrl
                                                  • >>   Task_rc
                                                  -

                                                  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_shoot_ctrl
                                                  • >>   Task_rc
                                                  -

                                                  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_shoot_ctrl @@ -1726,33 +1751,33 @@ Global Symbols
                                                    • >>   Task_rc
                                                    -

                                                    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]
                                                    • >>   vTaskSuspendAll -
                                                    • >>   xTaskGetSchedulerState +
                                                      [Calls]
                                                      • >>   vTaskSuspendAll +
                                                      • >>   xTaskGetSchedulerState

                                                      [Called By]
                                                      • >>   Task_Init
                                                      -

                                                      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 +
                                                      • >>   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]
                                                      • >>   xTaskResumeAll -
                                                      • >>   xTaskGetSchedulerState +
                                                        [Calls]
                                                        • >>   xTaskResumeAll +
                                                        • >>   xTaskGetSchedulerState

                                                        [Called By]
                                                        • >>   Task_Init
                                                        @@ -1760,8 +1785,8 @@ 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]
                                                          • >>   BSP_CAN_GetMessage
                                                          • >>   Task_shoot_ctrl @@ -1770,9 +1795,9 @@ Global Symbols

                                                            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
                                                              • >>   BSP_CAN_CreateIdQueue @@ -1781,8 +1806,8 @@ Global Symbols

                                                                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]
                                                                  • >>   BSP_CAN_RxFifo1Callback
                                                                  • >>   BSP_CAN_RxFifo0Callback @@ -1792,8 +1817,8 @@ Global Symbols

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

                                                                    [Stack]

                                                                    • Max Depth = 160
                                                                    • Call Chain = osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                    -
                                                                    [Calls]
                                                                    • >>   xQueueTakeMutexRecursive -
                                                                    • >>   xQueueSemaphoreTake +
                                                                      [Calls]
                                                                      • >>   xQueueTakeMutexRecursive +
                                                                      • >>   xQueueSemaphoreTake

                                                                      [Called By]
                                                                      • >>   BSP_CAN_GetMessage
                                                                      • >>   BSP_CAN_CreateIdQueue @@ -1802,9 +1827,9 @@ Global Symbols

                                                                        osMutexNew (Thumb, 150 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMutexNew))

                                                                        [Stack]

                                                                        • Max Depth = 168
                                                                        • Call Chain = osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                        -
                                                                        [Calls]
                                                                        • >>   xQueueCreateMutexStatic -
                                                                        • >>   xQueueCreateMutex -
                                                                        • >>   vQueueAddToRegistry +
                                                                          [Calls]
                                                                          • >>   xQueueCreateMutexStatic +
                                                                          • >>   xQueueCreateMutex +
                                                                          • >>   vQueueAddToRegistry

                                                                          [Called By]
                                                                          • >>   BSP_CAN_Init
                                                                          @@ -1812,8 +1837,8 @@ Global Symbols

                                                                          osMutexRelease (Thumb, 62 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMutexRelease))

                                                                          [Stack]

                                                                          • Max Depth = 152
                                                                          • Call Chain = osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                          -
                                                                          [Calls]
                                                                          • >>   xQueueGiveMutexRecursive -
                                                                          • >>   xQueueGenericSend +
                                                                            [Calls]
                                                                            • >>   xQueueGiveMutexRecursive +
                                                                            • >>   xQueueGenericSend

                                                                            [Called By]
                                                                            • >>   BSP_CAN_GetMessage
                                                                            • >>   BSP_CAN_CreateIdQueue @@ -1822,8 +1847,8 @@ Global Symbols

                                                                              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
                                                                                @@ -1832,7 +1857,7 @@ Global Symbols

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

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

                                                                                [Called By]
                                                                                • >>   DEVICE_AT9S_WaitDmaCplt
                                                                                @@ -1840,7 +1865,7 @@ 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 @@ -1850,18 +1875,18 @@ 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 @@ -1870,633 +1895,633 @@ Global Symbols

                                                                                          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]
                                                                                            • >>   BSP_Malloc -
                                                                                            • >>   xTaskCreate -
                                                                                            • >>   xQueueGenericCreate +
                                                                                            • >>   xTaskCreate +
                                                                                            • >>   xQueueGenericCreate
                                                                                            -

                                                                                            pvTaskIncrementMutexHeldCount (Thumb, 24 bytes, Stack size 0 bytes, tasks.o(.text.pvTaskIncrementMutexHeldCount)) -

                                                                                            [Called By]

                                                                                            • >>   xQueueSemaphoreTake +

                                                                                              pvTaskIncrementMutexHeldCount (Thumb, 24 bytes, Stack size 0 bytes, tasks.o(.text.pvTaskIncrementMutexHeldCount)) +

                                                                                              [Called By]

                                                                                              • >>   xQueueSemaphoreTake
                                                                                              -

                                                                                              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
                                                                                                -

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

                                                                                                [Called By]

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

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

                                                                                                  [Called By]

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

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

                                                                                                  [Called By]

                                                                                                  • >>   vTaskStartScheduler +

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

                                                                                                    [Called By]

                                                                                                    • >>   vTaskStartScheduler
                                                                                                    -

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

                                                                                                    [Called By]

                                                                                                    • >>   xTimerCreateTimerTask +

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

                                                                                                      [Called By]

                                                                                                      • >>   xTimerCreateTimerTask
                                                                                                      -

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

                                                                                                      [Called By]

                                                                                                      • >>   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]

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

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

                                                                                                              [Called By]

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

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

                                                                                                              [Called By]

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

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

                                                                                                                [Called By]

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

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

                                                                                                                [Called By]

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

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

                                                                                                                  [Called By]

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

                                                                                                                  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]
                                                                                                                    • >>   BSP_Free -
                                                                                                                    • >>   prvProcessReceivedCommands -
                                                                                                                    • >>   xTaskCreate -
                                                                                                                    • >>   prvDeleteTCB +
                                                                                                                    • >>   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)) +

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

                                                                                                                        [Called By]

                                                                                                                        • >>   osMutexNew
                                                                                                                        • >>   osMessageQueueNew -
                                                                                                                        • >>   prvCheckForValidListAndQueue +
                                                                                                                        • >>   prvCheckForValidListAndQueue
                                                                                                                        -

                                                                                                                        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]
                                                                                                                        • >>   prvUnlockQueue -
                                                                                                                        • >>   vPortExitCritical -
                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                        • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                          [Calls]
                                                                                                                          • >>   prvUnlockQueue +
                                                                                                                          • >>   vPortExitCritical +
                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                          • >>   vTaskPlaceOnEventListRestricted
                                                                                                                          -
                                                                                                                          [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]
                                                                                                                            • >>   xTaskResumeAll -
                                                                                                                            • >>   vTaskSuspendAll -
                                                                                                                            • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                              [Calls]
                                                                                                                              • >>   xTaskResumeAll +
                                                                                                                              • >>   vTaskSuspendAll +
                                                                                                                              • >>   prvAddCurrentTaskToDelayedList

                                                                                                                              [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]
                                                                                                                              • >>   xTaskResumeAll -
                                                                                                                              • >>   vTaskSuspendAll -
                                                                                                                              • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                [Calls]
                                                                                                                                • >>   xTaskResumeAll +
                                                                                                                                • >>   vTaskSuspendAll +
                                                                                                                                • >>   prvAddCurrentTaskToDelayedList
                                                                                                                                -
                                                                                                                                [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]
                                                                                                                                  • >>   vListInsertEnd -
                                                                                                                                  • >>   uxListRemove -
                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                  • >>   vPortEnterCritical -
                                                                                                                                  • >>   prvResetNextTaskUnblockTime -
                                                                                                                                  • >>   prvDeleteTCB +
                                                                                                                                    [Calls]
                                                                                                                                    • >>   vListInsertEnd +
                                                                                                                                    • >>   uxListRemove +
                                                                                                                                    • >>   vPortExitCritical +
                                                                                                                                    • >>   vPortEnterCritical +
                                                                                                                                    • >>   prvResetNextTaskUnblockTime +
                                                                                                                                    • >>   prvDeleteTCB
                                                                                                                                    -
                                                                                                                                    [Called By]
                                                                                                                                    • >>   osThreadTerminate +
                                                                                                                                      [Called By]
                                                                                                                                      • >>   osThreadTerminate
                                                                                                                                      -

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

                                                                                                                                      [Called By]

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

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

                                                                                                                                        [Called By]

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

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

                                                                                                                                        [Called By]

                                                                                                                                        • >>   prvUnlockQueue +

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

                                                                                                                                          [Called By]

                                                                                                                                          • >>   prvUnlockQueue
                                                                                                                                          -

                                                                                                                                          vTaskPlaceOnEventList (Thumb, 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]
                                                                                                                                          • >>   vListInsert -
                                                                                                                                          • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                            [Calls]
                                                                                                                                            • >>   vListInsert +
                                                                                                                                            • >>   prvAddCurrentTaskToDelayedList
                                                                                                                                            -
                                                                                                                                            [Called By]
                                                                                                                                            • >>   xQueueSemaphoreTake -
                                                                                                                                            • >>   xQueueReceive -
                                                                                                                                            • >>   xQueueGenericSend +
                                                                                                                                              [Called By]
                                                                                                                                              • >>   xQueueSemaphoreTake +
                                                                                                                                              • >>   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]
                                                                                                                                              • >>   vListInsertEnd -
                                                                                                                                              • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                [Calls]
                                                                                                                                                • >>   vListInsertEnd +
                                                                                                                                                • >>   prvAddCurrentTaskToDelayedList
                                                                                                                                                -
                                                                                                                                                [Called By]
                                                                                                                                                • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   vQueueWaitForMessageRestricted
                                                                                                                                                  -

                                                                                                                                                  vTaskPriorityDisinheritAfterTimeout (Thumb, 164 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)) +

                                                                                                                                                  vTaskPriorityDisinheritAfterTimeout (Thumb, 164 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout))

                                                                                                                                                  [Stack]

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

                                                                                                                                                      vTaskStartScheduler (Thumb, 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)) +

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

                                                                                                                                                          [Called By]

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

                                                                                                                                                          vTaskSwitchContext (Thumb, 154 bytes, Stack size 0 bytes, tasks.o(.text.vTaskSwitchContext))

                                                                                                                                                          [Called By]

                                                                                                                                                          • >>   PendSV_Handler -
                                                                                                                                                          • >>   xPortStartScheduler +
                                                                                                                                                          • >>   xPortStartScheduler
                                                                                                                                                          -

                                                                                                                                                          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 = 20
                                                                                                                                                          • Call Chain = xPortStartScheduler ⇒ prvTaskExitError
                                                                                                                                                          -
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   vPortSetupTimerInterrupt -
                                                                                                                                                          • >>   vPortEnableVFP +
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   vPortSetupTimerInterrupt +
                                                                                                                                                            • >>   vPortEnableVFP
                                                                                                                                                            • >>   prvTaskExitError -
                                                                                                                                                            • >>   prvPortStartFirstTask +
                                                                                                                                                            • >>   prvPortStartFirstTask
                                                                                                                                                            • >>   vTaskSwitchContext
                                                                                                                                                            -
                                                                                                                                                            [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
                                                                                                                                                                -

                                                                                                                                                                xQueueCreateMutex (Thumb, 22 bytes, Stack size 8 bytes, queue.o(.text.xQueueCreateMutex)) +

                                                                                                                                                                xQueueCreateMutex (Thumb, 22 bytes, Stack size 8 bytes, queue.o(.text.xQueueCreateMutex))

                                                                                                                                                                [Stack]

                                                                                                                                                                • Max Depth = 144
                                                                                                                                                                • Call Chain = xQueueCreateMutex ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                -
                                                                                                                                                                [Calls]
                                                                                                                                                                • >>   prvInitialiseMutex -
                                                                                                                                                                • >>   xQueueGenericCreate +
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   prvInitialiseMutex +
                                                                                                                                                                  • >>   xQueueGenericCreate

                                                                                                                                                                  [Called By]
                                                                                                                                                                  • >>   osMutexNew
                                                                                                                                                                  -

                                                                                                                                                                  xQueueCreateMutexStatic (Thumb, 34 bytes, Stack size 16 bytes, queue.o(.text.xQueueCreateMutexStatic)) +

                                                                                                                                                                  xQueueCreateMutexStatic (Thumb, 34 bytes, Stack size 16 bytes, queue.o(.text.xQueueCreateMutexStatic))

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 152
                                                                                                                                                                  • Call Chain = xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   prvInitialiseMutex -
                                                                                                                                                                  • >>   xQueueGenericCreateStatic +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   prvInitialiseMutex +
                                                                                                                                                                    • >>   xQueueGenericCreateStatic

                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   osMutexNew
                                                                                                                                                                    -

                                                                                                                                                                    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 +
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   prvInitialiseNewQueue
                                                                                                                                                                      • >>   pvPortMalloc

                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   osMessageQueueNew -
                                                                                                                                                                      • >>   xQueueCreateMutex +
                                                                                                                                                                      • >>   xQueueCreateMutex
                                                                                                                                                                      -

                                                                                                                                                                      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]
                                                                                                                                                                        • >>   osMessageQueueNew -
                                                                                                                                                                        • >>   prvCheckForValidListAndQueue -
                                                                                                                                                                        • >>   xQueueCreateMutexStatic +
                                                                                                                                                                        • >>   prvCheckForValidListAndQueue +
                                                                                                                                                                        • >>   xQueueCreateMutexStatic
                                                                                                                                                                        -

                                                                                                                                                                        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]
                                                                                                                                                                        • >>   vPortExitCritical -
                                                                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                                                                        • >>   vListInitialise -
                                                                                                                                                                        • >>   xTaskRemoveFromEventList +
                                                                                                                                                                          [Calls]
                                                                                                                                                                          • >>   vPortExitCritical +
                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                          • >>   vListInitialise +
                                                                                                                                                                          • >>   xTaskRemoveFromEventList
                                                                                                                                                                          -
                                                                                                                                                                          [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]
                                                                                                                                                                            • >>   prvUnlockQueue -
                                                                                                                                                                            • >>   prvIsQueueFull -
                                                                                                                                                                            • >>   prvCopyDataToQueue -
                                                                                                                                                                            • >>   xTaskResumeAll -
                                                                                                                                                                            • >>   vTaskSuspendAll -
                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                            • >>   vPortEnterCritical -
                                                                                                                                                                            • >>   xTaskGetSchedulerState -
                                                                                                                                                                            • >>   xTaskRemoveFromEventList -
                                                                                                                                                                            • >>   xTaskCheckForTimeOut -
                                                                                                                                                                            • >>   vTaskPlaceOnEventList -
                                                                                                                                                                            • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                              [Calls]
                                                                                                                                                                              • >>   prvUnlockQueue +
                                                                                                                                                                              • >>   prvIsQueueFull +
                                                                                                                                                                              • >>   prvCopyDataToQueue +
                                                                                                                                                                              • >>   xTaskResumeAll +
                                                                                                                                                                              • >>   vTaskSuspendAll +
                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                              • >>   vPortEnterCritical +
                                                                                                                                                                              • >>   xTaskGetSchedulerState +
                                                                                                                                                                              • >>   xTaskRemoveFromEventList +
                                                                                                                                                                              • >>   xTaskCheckForTimeOut +
                                                                                                                                                                              • >>   vTaskPlaceOnEventList +
                                                                                                                                                                              • >>   vTaskInternalSetTimeOutState
                                                                                                                                                                              -
                                                                                                                                                                              [Called By]
                                                                                                                                                                              • >>   prvInitialiseMutex +
                                                                                                                                                                                [Called By]
                                                                                                                                                                                • >>   prvInitialiseMutex
                                                                                                                                                                                • >>   osMutexRelease
                                                                                                                                                                                • >>   osMessageQueuePut -
                                                                                                                                                                                • >>   xTimerGenericCommand -
                                                                                                                                                                                • >>   xQueueGiveMutexRecursive +
                                                                                                                                                                                • >>   xTimerGenericCommand +
                                                                                                                                                                                • >>   xQueueGiveMutexRecursive
                                                                                                                                                                                -

                                                                                                                                                                                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]
                                                                                                                                                                                • >>   prvCopyDataToQueue -
                                                                                                                                                                                • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   prvCopyDataToQueue +
                                                                                                                                                                                  • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                  • >>   vPortValidateInterruptPriority

                                                                                                                                                                                  [Called By]
                                                                                                                                                                                  • >>   osMessageQueuePut -
                                                                                                                                                                                  • >>   xTimerGenericCommand +
                                                                                                                                                                                  • >>   xTimerGenericCommand
                                                                                                                                                                                  -

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

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

                                                                                                                                                                                  [Stack]

                                                                                                                                                                                  • Max Depth = 144
                                                                                                                                                                                  • Call Chain = xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                  -
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   xTaskGetCurrentTaskHandle -
                                                                                                                                                                                  • >>   xQueueGenericSend +
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   xTaskGetCurrentTaskHandle +
                                                                                                                                                                                    • >>   xQueueGenericSend

                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   osMutexRelease
                                                                                                                                                                                    -

                                                                                                                                                                                    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]
                                                                                                                                                                                    • >>   prvUnlockQueue -
                                                                                                                                                                                    • >>   prvIsQueueEmpty -
                                                                                                                                                                                    • >>   prvCopyDataFromQueue -
                                                                                                                                                                                    • >>   xTaskResumeAll -
                                                                                                                                                                                    • >>   vTaskSuspendAll -
                                                                                                                                                                                    • >>   vPortExitCritical -
                                                                                                                                                                                    • >>   vPortEnterCritical -
                                                                                                                                                                                    • >>   xTaskGetSchedulerState -
                                                                                                                                                                                    • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                    • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                    • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                    • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   prvUnlockQueue +
                                                                                                                                                                                      • >>   prvIsQueueEmpty +
                                                                                                                                                                                      • >>   prvCopyDataFromQueue +
                                                                                                                                                                                      • >>   xTaskResumeAll +
                                                                                                                                                                                      • >>   vTaskSuspendAll +
                                                                                                                                                                                      • >>   vPortExitCritical +
                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                      • >>   xTaskGetSchedulerState +
                                                                                                                                                                                      • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                      • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                      • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                      • >>   vTaskInternalSetTimeOutState

                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   osMessageQueueGet -
                                                                                                                                                                                      • >>   prvProcessReceivedCommands +
                                                                                                                                                                                      • >>   prvProcessReceivedCommands
                                                                                                                                                                                      -

                                                                                                                                                                                      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]
                                                                                                                                                                                      • >>   prvCopyDataFromQueue -
                                                                                                                                                                                      • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                      • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   prvCopyDataFromQueue +
                                                                                                                                                                                        • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                        • >>   vPortValidateInterruptPriority

                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   osMessageQueueGet
                                                                                                                                                                                        -

                                                                                                                                                                                        xQueueSemaphoreTake (Thumb, 454 bytes, Stack size 56 bytes, queue.o(.text.xQueueSemaphoreTake)) +

                                                                                                                                                                                        xQueueSemaphoreTake (Thumb, 454 bytes, Stack size 56 bytes, queue.o(.text.xQueueSemaphoreTake))

                                                                                                                                                                                        [Stack]

                                                                                                                                                                                        • Max Depth = 136
                                                                                                                                                                                        • Call Chain = xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                        -
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   prvUnlockQueue -
                                                                                                                                                                                        • >>   prvIsQueueEmpty -
                                                                                                                                                                                        • >>   prvGetDisinheritPriorityAfterTimeout -
                                                                                                                                                                                        • >>   xTaskResumeAll -
                                                                                                                                                                                        • >>   vTaskSuspendAll -
                                                                                                                                                                                        • >>   vPortExitCritical -
                                                                                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                                                                                        • >>   xTaskGetSchedulerState -
                                                                                                                                                                                        • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                        • >>   xTaskPriorityInherit -
                                                                                                                                                                                        • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                        • >>   vTaskPriorityDisinheritAfterTimeout -
                                                                                                                                                                                        • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                        • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                        • >>   pvTaskIncrementMutexHeldCount +
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   prvUnlockQueue +
                                                                                                                                                                                          • >>   prvIsQueueEmpty +
                                                                                                                                                                                          • >>   prvGetDisinheritPriorityAfterTimeout +
                                                                                                                                                                                          • >>   xTaskResumeAll +
                                                                                                                                                                                          • >>   vTaskSuspendAll +
                                                                                                                                                                                          • >>   vPortExitCritical +
                                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                                          • >>   xTaskGetSchedulerState +
                                                                                                                                                                                          • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                          • >>   xTaskPriorityInherit +
                                                                                                                                                                                          • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                          • >>   vTaskPriorityDisinheritAfterTimeout +
                                                                                                                                                                                          • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                          • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                          • >>   pvTaskIncrementMutexHeldCount

                                                                                                                                                                                          [Called By]
                                                                                                                                                                                          • >>   osMutexAcquire -
                                                                                                                                                                                          • >>   xQueueTakeMutexRecursive +
                                                                                                                                                                                          • >>   xQueueTakeMutexRecursive
                                                                                                                                                                                          -

                                                                                                                                                                                          xQueueTakeMutexRecursive (Thumb, 60 bytes, Stack size 16 bytes, queue.o(.text.xQueueTakeMutexRecursive)) +

                                                                                                                                                                                          xQueueTakeMutexRecursive (Thumb, 60 bytes, Stack size 16 bytes, queue.o(.text.xQueueTakeMutexRecursive))

                                                                                                                                                                                          [Stack]

                                                                                                                                                                                          • Max Depth = 152
                                                                                                                                                                                          • Call Chain = xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                          -
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   xTaskGetCurrentTaskHandle -
                                                                                                                                                                                          • >>   xQueueSemaphoreTake +
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   xTaskGetCurrentTaskHandle +
                                                                                                                                                                                            • >>   xQueueSemaphoreTake

                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   osMutexAcquire
                                                                                                                                                                                            -

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

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

                                                                                                                                                                                            [Stack]

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

                                                                                                                                                                                                [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]
                                                                                                                                                                                                    • >>   vListInsertEnd -
                                                                                                                                                                                                    • >>   uxListRemove -
                                                                                                                                                                                                    • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                                                                      • >>   uxListRemove +
                                                                                                                                                                                                      • >>   vPortValidateInterruptPriority

                                                                                                                                                                                                      [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 -
                                                                                                                                                                                                      • >>   xQueueTakeMutexRecursive -
                                                                                                                                                                                                      • >>   xQueueGiveMutexRecursive +
                                                                                                                                                                                                      • >>   xQueueTakeMutexRecursive +
                                                                                                                                                                                                      • >>   xQueueGiveMutexRecursive
                                                                                                                                                                                                      -

                                                                                                                                                                                                      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 -
                                                                                                                                                                                                      • >>   osKernelUnlock -
                                                                                                                                                                                                      • >>   osKernelLock -
                                                                                                                                                                                                      • >>   xTimerGenericCommand -
                                                                                                                                                                                                      • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                                      • >>   xQueueGenericSend +
                                                                                                                                                                                                      • >>   osKernelUnlock +
                                                                                                                                                                                                      • >>   osKernelLock +
                                                                                                                                                                                                      • >>   xTimerGenericCommand +
                                                                                                                                                                                                      • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                      • >>   xQueueReceive +
                                                                                                                                                                                                      • >>   xQueueGenericSend

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

                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                      • >>   BSP_TIME_Get
                                                                                                                                                                                                      • >>   osThreadFlagsWait -
                                                                                                                                                                                                      • >>   osKernelGetTickCount -
                                                                                                                                                                                                      • >>   osDelayUntil -
                                                                                                                                                                                                      • >>   prvSampleTimeNow +
                                                                                                                                                                                                      • >>   osKernelGetTickCount +
                                                                                                                                                                                                      • >>   osDelayUntil +
                                                                                                                                                                                                      • >>   prvSampleTimeNow
                                                                                                                                                                                                      -

                                                                                                                                                                                                      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]
                                                                                                                                                                                                          • >>   vListInsertEnd -
                                                                                                                                                                                                          • >>   uxListRemove -
                                                                                                                                                                                                          • >>   prvResetNextTaskUnblockTime +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   vListInsertEnd +
                                                                                                                                                                                                            • >>   uxListRemove +
                                                                                                                                                                                                            • >>   prvResetNextTaskUnblockTime
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   xTaskResumeAll -
                                                                                                                                                                                                            • >>   xPortSysTickHandler +
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   xTaskResumeAll +
                                                                                                                                                                                                              • >>   xPortSysTickHandler
                                                                                                                                                                                                              -

                                                                                                                                                                                                              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]
                                                                                                                                                                                                              • >>   vPortExitCritical -
                                                                                                                                                                                                              • >>   vPortEnterCritical -
                                                                                                                                                                                                              • >>   prvAddCurrentTaskToDelayedList +
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   vPortExitCritical +
                                                                                                                                                                                                                • >>   vPortEnterCritical +
                                                                                                                                                                                                                • >>   prvAddCurrentTaskToDelayedList

                                                                                                                                                                                                                [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
                                                                                                                                                                                                                    -

                                                                                                                                                                                                                    xTaskPriorityInherit (Thumb, 146 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit)) +

                                                                                                                                                                                                                    xTaskPriorityInherit (Thumb, 146 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit))

                                                                                                                                                                                                                    [Stack]

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

                                                                                                                                                                                                                        xTaskRemoveFromEventList (Thumb, 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]
                                                                                                                                                                                                                          • >>   prvUnlockQueue -
                                                                                                                                                                                                                          • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                          • >>   xQueueReceiveFromISR -
                                                                                                                                                                                                                          • >>   xQueueReceive -
                                                                                                                                                                                                                          • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                          • >>   xQueueGenericSend -
                                                                                                                                                                                                                          • >>   xQueueGenericReset +
                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   prvUnlockQueue +
                                                                                                                                                                                                                            • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                            • >>   xQueueReceiveFromISR +
                                                                                                                                                                                                                            • >>   xQueueReceive +
                                                                                                                                                                                                                            • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                            • >>   xQueueGenericSend +
                                                                                                                                                                                                                            • >>   xQueueGenericReset
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            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]
                                                                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                                                                            • >>   uxListRemove -
                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                            • >>   vPortEnterCritical -
                                                                                                                                                                                                                            • >>   xTaskIncrementTick -
                                                                                                                                                                                                                            • >>   prvResetNextTaskUnblockTime +
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                                                                              • >>   uxListRemove +
                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                              • >>   vPortEnterCritical +
                                                                                                                                                                                                                              • >>   xTaskIncrementTick +
                                                                                                                                                                                                                              • >>   prvResetNextTaskUnblockTime

                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   vPortFree
                                                                                                                                                                                                                              • >>   pvPortMalloc -
                                                                                                                                                                                                                              • >>   osKernelUnlock -
                                                                                                                                                                                                                              • >>   prvProcessTimerOrBlockTask -
                                                                                                                                                                                                                              • >>   vTaskDelayUntil -
                                                                                                                                                                                                                              • >>   vTaskDelay -
                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                              • >>   xQueueReceive -
                                                                                                                                                                                                                              • >>   xQueueGenericSend +
                                                                                                                                                                                                                              • >>   osKernelUnlock +
                                                                                                                                                                                                                              • >>   prvProcessTimerOrBlockTask +
                                                                                                                                                                                                                              • >>   vTaskDelayUntil +
                                                                                                                                                                                                                              • >>   vTaskDelay +
                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                              • >>   xQueueGenericSend
                                                                                                                                                                                                                              -

                                                                                                                                                                                                                              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_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_fmod (Thumb, 254 bytes, Stack size 48 bytes, fmod.o(i.__hardfp_fmod))

                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                      • Max Depth = 88
                                                                                                                                                                                                                                      • Call Chain = __hardfp_fmod ⇒ __mathlib_dbl_invalid ⇒ __aeabi_ddiv
                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                      • >>   __mathlib_dbl_invalid -
                                                                                                                                                                                                                                      • >>   _drem -
                                                                                                                                                                                                                                      • >>   __aeabi_drsub +
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   __mathlib_dbl_invalid +
                                                                                                                                                                                                                                        • >>   _drem +
                                                                                                                                                                                                                                        • >>   __aeabi_drsub
                                                                                                                                                                                                                                        • >>   __set_errno

                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   Chassis_UpdateFeedback @@ -2505,37 +2530,37 @@ Global Symbols

                                                                                                                                                                                                                                          __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
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            __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_fmod
                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                              __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
                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                              __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
                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                              __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
                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                              __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 @@ -2547,91 +2572,91 @@ Global Symbols
                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                • >>   Chassis_UpdateFeedback
                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                _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), UNUSED) +

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

                                                                                                                                                                                                                                                  _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
                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                    __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]
                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_invalid +
                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                      • >>   __mathlib_dbl_invalid
                                                                                                                                                                                                                                                      • >>   Task_shoot_ctrl
                                                                                                                                                                                                                                                      • >>   Task_rc
                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                      _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_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_shoot_ctrl
                                                                                                                                                                                                                                                        • >>   Task_rc
                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                        _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_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu)) +

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

                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                          • >>   Task_shoot_ctrl
                                                                                                                                                                                                                                                          • >>   Task_rc
                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                          _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) -

                                                                                                                                                                                                                                                          __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]
                                                                                                                                                                                                                                                          • >>   _drem -
                                                                                                                                                                                                                                                          • >>   _dsub -
                                                                                                                                                                                                                                                          • >>   _dadd -
                                                                                                                                                                                                                                                          • >>   _dfixu -
                                                                                                                                                                                                                                                          • >>   _ddiv -
                                                                                                                                                                                                                                                          • >>   _d2f +
                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                            • >>   _drem +
                                                                                                                                                                                                                                                            • >>   _dsub +
                                                                                                                                                                                                                                                            • >>   _dadd +
                                                                                                                                                                                                                                                            • >>   _dfixu +
                                                                                                                                                                                                                                                            • >>   _ddiv +
                                                                                                                                                                                                                                                            • >>   _d2f
                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                            _drem (Thumb, 328 bytes, Stack size 16 bytes, drem_clz.o(x$fpl$drem)) +

                                                                                                                                                                                                                                                            _drem (Thumb, 328 bytes, Stack size 16 bytes, drem_clz.o(x$fpl$drem))

                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                            • Max Depth = 32
                                                                                                                                                                                                                                                            • Call Chain = _drem ⇒ __fpl_dnaninf
                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   __fpl_dnaninf +
                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                              • >>   __fpl_dnaninf

                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                              • >>   __hardfp_fmod
                                                                                                                                                                                                                                                              -

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

                                                                                                                                                                                                                                                              [Called By]

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

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

                                                                                                                                                                                                                                                                [Called By]

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

                                                                                                                                                                                                                                                                __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_fmod
                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                _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
                                                                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                                                                  _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)) @@ -2640,35 +2665,35 @@ Global Symbols
                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                    • >>   Chassis_UpdateFeedback
                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                    _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]

                                                                                                                                                                                                                                                                      • >>   Shoot_Control
                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                      _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]

                                                                                                                                                                                                                                                                      • >>   _f2d +

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

                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                        • >>   _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

                                                                                                                                                                                                                                                                          @@ -2720,8 +2745,8 @@ Local Symbols

                                                                                                                                                                                                                                                                          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 -
                                                                                                                                                                                                                                                                          • >>   UART_EndRxTransfer +
                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                            • >>   UART_EndTxTransfer +
                                                                                                                                                                                                                                                                            • >>   UART_EndRxTransfer
                                                                                                                                                                                                                                                                            • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                                                            • stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) @@ -2729,7 +2754,7 @@ Local Symbols

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

                                                                                                                                                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                • stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) @@ -2737,22 +2762,22 @@ Local Symbols

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

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

                                                                                                                                                                                                                                                                                    UART_EndRxTransfer (Thumb, 80 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)) -

                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                    • >>   UART_EndRxTransfer +

                                                                                                                                                                                                                                                                                      UART_EndRxTransfer (Thumb, 80 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)) +

                                                                                                                                                                                                                                                                                      [Calls]

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

                                                                                                                                                                                                                                                                                        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 +
                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   UART_EndTxTransfer
                                                                                                                                                                                                                                                                                            • >>   UART_DMAError
                                                                                                                                                                                                                                                                                            @@ -2766,244 +2791,244 @@ Local Symbols
                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Init
                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                            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
                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                            [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 +
                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                • >>   xTaskPriorityDisinherit
                                                                                                                                                                                                                                                                                                • >>   __aeabi_memcpy
                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                  prvGetDisinheritPriorityAfterTimeout (Thumb, 18 bytes, Stack size 0 bytes, queue.o(.text.prvGetDisinheritPriorityAfterTimeout)) -

                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                  • >>   xQueueSemaphoreTake +

                                                                                                                                                                                                                                                                                                    prvGetDisinheritPriorityAfterTimeout (Thumb, 18 bytes, Stack size 0 bytes, queue.o(.text.prvGetDisinheritPriorityAfterTimeout)) +

                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                    • >>   xQueueSemaphoreTake
                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                    prvInitialiseMutex (Thumb, 32 bytes, Stack size 8 bytes, queue.o(.text.prvInitialiseMutex)) +

                                                                                                                                                                                                                                                                                                    prvInitialiseMutex (Thumb, 32 bytes, Stack size 8 bytes, queue.o(.text.prvInitialiseMutex))

                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                    • Max Depth = 136
                                                                                                                                                                                                                                                                                                    • Call Chain = prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                    • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                      • >>   xQueueCreateMutexStatic -
                                                                                                                                                                                                                                                                                                      • >>   xQueueCreateMutex +
                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                        • >>   xQueueCreateMutexStatic +
                                                                                                                                                                                                                                                                                                        • >>   xQueueCreateMutex
                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                        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]
                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                • >>   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]
                                                                                                                                                                                                                                                                                                                    • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                    • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                    • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                    • >>   vTaskMissedYield +
                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                      • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                      • >>   vTaskMissedYield
                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                      • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                      • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                        • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                        • >>   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]
                                                                                                                                                                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                            • >>   prvInitialiseTaskLists +
                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                              • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                              • >>   prvInitialiseTaskLists
                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                              [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]
                                                                                                                                                                                                                                                                                                                                • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                • >>   prvDeleteTCB +
                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                  • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                  • >>   prvDeleteTCB

                                                                                                                                                                                                                                                                                                                                  [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
                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                                  • >>   prvCheckTasksWaitingTermination +
                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                                    • >>   prvCheckTasksWaitingTermination

                                                                                                                                                                                                                                                                                                                                    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]
                                                                                                                                                                                                                                                                                                                                      • >>   vListInitialiseItem -
                                                                                                                                                                                                                                                                                                                                      • >>   pxPortInitialiseStack +
                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                        • >>   vListInitialiseItem +
                                                                                                                                                                                                                                                                                                                                        • >>   pxPortInitialiseStack
                                                                                                                                                                                                                                                                                                                                        • >>   __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]

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

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

                                                                                                                                                                                                                                                                                                                                                [Called By]

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

                                                                                                                                                                                                                                                                                                                                                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]
                                                                                                                                                                                                                                                                                                                                                • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                • >>   vListInitialise -
                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                                                • >>   vQueueAddToRegistry +
                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                  • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                                                  • >>   vQueueAddToRegistry
                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                  • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                    • >>   xTimerCreateTimerTask
                                                                                                                                                                                                                                                                                                                                                    -

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

                                                                                                                                                                                                                                                                                                                                                    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]
                                                                                                                                                                                                                                                                                                                                                        • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                        • >>   xTimerGenericCommand -
                                                                                                                                                                                                                                                                                                                                                        • >>   prvInsertTimerInActiveList +
                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                          • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                          • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                                                                                                                          • >>   prvInsertTimerInActiveList
                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                          [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]
                                                                                                                                                                                                                                                                                                                                                            • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                              • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                              • >>   vPortFree -
                                                                                                                                                                                                                                                                                                                                                              • >>   xTimerGenericCommand -
                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                                                              • >>   prvInsertTimerInActiveList -
                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                              • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                              • >>   prvInsertTimerInActiveList +
                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive

                                                                                                                                                                                                                                                                                                                                                              [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]
                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskSuspendAll -
                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                                                              • >>   prvProcessExpiredTimer -
                                                                                                                                                                                                                                                                                                                                                              • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                                                • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                • >>   prvProcessExpiredTimer +
                                                                                                                                                                                                                                                                                                                                                                • >>   vQueueWaitForMessageRestricted

                                                                                                                                                                                                                                                                                                                                                                [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]
                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                                    • >>   xTimerGenericCommand +
                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                      • >>   xTimerGenericCommand
                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                      • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                        • >>   prvSampleTimeNow

                                                                                                                                                                                                                                                                                                                                                                        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)
                                                                                                                                                                                                                                                                                                                                                                          @@ -3012,37 +3037,37 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                        [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
                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                          prvHeapInit (Thumb, 118 bytes, Stack size 0 bytes, heap_4.o(.text.prvHeapInit)) +

                                                                                                                                                                                                                                                                                                                                                                          prvHeapInit (Thumb, 118 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
                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                          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))

                                                                                                                                                                                                                                                                                                                                                                            [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

                                                                                                                                                                                                                                                                                                                                                                                BSP_CAN_CreateIdQueue (Thumb, 146 bytes, Stack size 32 bytes, can_1.o(.text.BSP_CAN_CreateIdQueue)) @@ -3183,18 +3208,18 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                              • >>   PID_Calc
                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                              ScaleSumTo1 (Thumb, 54 bytes, Stack size 0 bytes, shoot_control.o(.text.ScaleSumTo1)) -

                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                              • >>   Shoot_Control +

                                                                                                                                                                                                                                                                                                                                                                                ScaleSumTo1 (Thumb, 54 bytes, Stack size 0 bytes, shoot_control.o(.text.ScaleSumTo1)) +

                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                • >>   _dsub -
                                                                                                                                                                                                                                                                                                                                                                                • >>   _drsb +

                                                                                                                                                                                                                                                                                                                                                                                  _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 +

                                                                                                                                                                                                                                                                                                                                                                                    _dsub1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                    • >>   _drsb +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   _dadd

                                                                                                                                                                                                                                                                                                                                                                                    diff --git a/MDK-ARM/shoot/shoot.map b/MDK-ARM/shoot/shoot.map index 230aa6c..8a0e619 100644 --- a/MDK-ARM/shoot/shoot.map +++ b/MDK-ARM/shoot/shoot.map @@ -2107,6 +2107,7 @@ Section Cross References shoot_control.o(.text.Shoot_ResetCalu) refers to pid.o(.text.PID_Reset) for PID_Reset shoot_control.o(.text.Shoot_ResetCalu) refers to filter.o(.text.LowPassFilter2p_Reset) for LowPassFilter2p_Reset shoot_control.o(.ARM.exidx.text.Shoot_ResetCalu) refers to shoot_control.o(.text.Shoot_ResetCalu) for [Anonymous Symbol] + shoot_control.o(.text.Shoot_ResetOutput) refers to rt_memclr_w.o(.text) for __aeabi_memclr4 shoot_control.o(.ARM.exidx.text.Shoot_ResetOutput) refers to shoot_control.o(.text.Shoot_ResetOutput) for [Anonymous Symbol] shoot_control.o(.ARM.exidx.text.Shoot_CaluTargetRPM) refers to shoot_control.o(.text.Shoot_CaluTargetRPM) for [Anonymous Symbol] shoot_control.o(.ARM.exidx.text.Shoot_CaluTargetAngle) refers to shoot_control.o(.text.Shoot_CaluTargetAngle) for [Anonymous Symbol] @@ -2114,7 +2115,7 @@ Section Cross References shoot_control.o(.text.Shoot_Init) refers to motor_rm.o(.text.MOTOR_RM_Register) for MOTOR_RM_Register shoot_control.o(.text.Shoot_Init) refers to pid.o(.text.PID_Init) for PID_Init shoot_control.o(.text.Shoot_Init) refers to filter.o(.text.LowPassFilter2p_Init) for LowPassFilter2p_Init - shoot_control.o(.text.Shoot_Init) refers to rt_memclr_w.o(.text) for __aeabi_memclr4 + shoot_control.o(.text.Shoot_Init) refers to rt_memclr_w.o(.text) for __aeabi_memclr8 shoot_control.o(.ARM.exidx.text.Shoot_Init) refers to shoot_control.o(.text.Shoot_Init) for [Anonymous Symbol] shoot_control.o(.text.Chassis_UpdateFeedback) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply shoot_control.o(.text.Chassis_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_Update) for MOTOR_RM_Update @@ -2123,22 +2124,27 @@ Section Cross References shoot_control.o(.text.Chassis_UpdateFeedback) refers to fmod.o(i.__hardfp_fmod) for __hardfp_fmod shoot_control.o(.text.Chassis_UpdateFeedback) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f shoot_control.o(.ARM.exidx.text.Chassis_UpdateFeedback) refers to shoot_control.o(.text.Chassis_UpdateFeedback) for [Anonymous Symbol] + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.bss.last_firecmd) for last_firecmd + shoot_control.o(.text.Shoot_RunningFSM) refers to pid.o(.text.PID_Calc) for PID_Calc + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.ScaleSumTo1) for ScaleSumTo1 + shoot_control.o(.text.Shoot_RunningFSM) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply + shoot_control.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_SetOutput) for MOTOR_RM_SetOutput + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.bss.Shoot_RunningFSM.pos) for Shoot_RunningFSM.pos + shoot_control.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_Relax) for MOTOR_RM_Relax + shoot_control.o(.text.Shoot_RunningFSM) refers to pid.o(.text.PID_ResetIntegral) for PID_ResetIntegral + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_ResetCalu) for Shoot_ResetCalu + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_ResetIntegral) for Shoot_ResetIntegral + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_ResetOutput) for Shoot_ResetOutput + shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_CaluTargetAngle) for Shoot_CaluTargetAngle + shoot_control.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_Ctrl) for MOTOR_RM_Ctrl + shoot_control.o(.ARM.exidx.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_RunningFSM) for [Anonymous Symbol] + shoot_control.o(.ARM.exidx.text.ScaleSumTo1) refers to shoot_control.o(.text.ScaleSumTo1) for [Anonymous Symbol] + shoot_control.o(.text.Shoot_JamDetectionFSM) refers to shoot_control.o(.text.Shoot_RunningFSM) for Shoot_RunningFSM + shoot_control.o(.ARM.exidx.text.Shoot_JamDetectionFSM) refers to shoot_control.o(.text.Shoot_JamDetectionFSM) for [Anonymous Symbol] shoot_control.o(.text.Shoot_Control) refers to time.o(.text.BSP_TIME_Get_us) for BSP_TIME_Get_us shoot_control.o(.text.Shoot_Control) refers to ffltll_clz.o(x$fpl$ffltll) for __aeabi_ul2f - shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.bss.last_firecmd) for last_firecmd - shoot_control.o(.text.Shoot_Control) refers to pid.o(.text.PID_Calc) for PID_Calc - shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.ScaleSumTo1) for ScaleSumTo1 - shoot_control.o(.text.Shoot_Control) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply - shoot_control.o(.text.Shoot_Control) refers to motor_rm.o(.text.MOTOR_RM_SetOutput) for MOTOR_RM_SetOutput - shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.Shoot_ResetCalu) for Shoot_ResetCalu - shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.Shoot_ResetOutput) for Shoot_ResetOutput - shoot_control.o(.text.Shoot_Control) refers to motor_rm.o(.text.MOTOR_RM_Relax) for MOTOR_RM_Relax - shoot_control.o(.text.Shoot_Control) refers to pid.o(.text.PID_ResetIntegral) for PID_ResetIntegral - shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.Shoot_ResetIntegral) for Shoot_ResetIntegral - shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.Shoot_CaluTargetAngle) for Shoot_CaluTargetAngle - shoot_control.o(.text.Shoot_Control) refers to motor_rm.o(.text.MOTOR_RM_Ctrl) for MOTOR_RM_Ctrl + shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.Shoot_JamDetectionFSM) for Shoot_JamDetectionFSM shoot_control.o(.ARM.exidx.text.Shoot_Control) refers to shoot_control.o(.text.Shoot_Control) for [Anonymous Symbol] - shoot_control.o(.ARM.exidx.text.ScaleSumTo1) refers to shoot_control.o(.text.ScaleSumTo1) for [Anonymous Symbol] 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] init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osKernelLock) for osKernelLock @@ -3697,8 +3703,10 @@ Removing Unused input sections from the image. Removing shoot_control.o(.ARM.exidx.text.Shoot_CaluTargetAngle), (8 bytes). Removing shoot_control.o(.ARM.exidx.text.Shoot_Init), (8 bytes). Removing shoot_control.o(.ARM.exidx.text.Chassis_UpdateFeedback), (8 bytes). - Removing shoot_control.o(.ARM.exidx.text.Shoot_Control), (8 bytes). + Removing shoot_control.o(.ARM.exidx.text.Shoot_RunningFSM), (8 bytes). Removing shoot_control.o(.ARM.exidx.text.ScaleSumTo1), (8 bytes). + Removing shoot_control.o(.ARM.exidx.text.Shoot_JamDetectionFSM), (8 bytes). + Removing shoot_control.o(.ARM.exidx.text.Shoot_Control), (8 bytes). Removing config.o(.text), (0 bytes). Removing config.o(.ARM.exidx.text.Config_GetRobotParam), (8 bytes). Removing init.o(.text), (0 bytes). @@ -3709,7 +3717,7 @@ Removing Unused input sections from the image. Removing shoot_ctrl.o(.ARM.exidx.text.Task_shoot_ctrl), (8 bytes). Removing user_task.o(.text), (0 bytes). -1227 unused section(s) (total 34343 bytes) removed from the image. +1229 unused section(s) (total 34359 bytes) removed from the image. ============================================================================== @@ -4114,356 +4122,359 @@ Image Symbol Table [Anonymous Symbol] 0x0800373c Section 0 shoot_control.o(.text.ScaleSumTo1) [Anonymous Symbol] 0x08003774 Section 0 shoot_control.o(.text.Shoot_CaluTargetAngle) [Anonymous Symbol] 0x08003800 Section 0 shoot_control.o(.text.Shoot_Control) - __arm_cp.8_3 0x08003bf8 Number 4 shoot_control.o(.text.Shoot_Control) - [Anonymous Symbol] 0x08003c20 Section 0 shoot_control.o(.text.Shoot_Init) - [Anonymous Symbol] 0x08003d0c Section 0 shoot_control.o(.text.Shoot_ResetCalu) - [Anonymous Symbol] 0x08003da0 Section 0 shoot_control.o(.text.Shoot_ResetIntegral) - [Anonymous Symbol] 0x08003de4 Section 0 shoot_control.o(.text.Shoot_ResetOutput) - [Anonymous Symbol] 0x08003e0c Section 0 freertos.o(.text.StartDefaultTask) - SysTick_Config 0x08003e19 Thumb Code 46 stm32f4xx_hal_cortex.o(.text.SysTick_Config) - [Anonymous Symbol] 0x08003e18 Section 0 stm32f4xx_hal_cortex.o(.text.SysTick_Config) - [Anonymous Symbol] 0x08003e48 Section 0 stm32f4xx_it.o(.text.SysTick_Handler) - [Anonymous Symbol] 0x08003e5c Section 0 main.o(.text.SystemClock_Config) - [Anonymous Symbol] 0x08003f00 Section 0 system_stm32f4xx.o(.text.SystemInit) - [Anonymous Symbol] 0x08003f14 Section 0 init.o(.text.Task_Init) - [Anonymous Symbol] 0x08003f78 Section 0 rc.o(.text.Task_rc) - [Anonymous Symbol] 0x08004010 Section 0 shoot_ctrl.o(.text.Task_shoot_ctrl) - UART_DMAError 0x080040b5 Thumb Code 76 stm32f4xx_hal_uart.o(.text.UART_DMAError) - [Anonymous Symbol] 0x080040b4 Section 0 stm32f4xx_hal_uart.o(.text.UART_DMAError) - UART_DMAReceiveCplt 0x08004101 Thumb Code 132 stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) - [Anonymous Symbol] 0x08004100 Section 0 stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) - UART_DMARxHalfCplt 0x08004185 Thumb Code 30 stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) - [Anonymous Symbol] 0x08004184 Section 0 stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) - UART_EndRxTransfer 0x080041a5 Thumb Code 80 stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer) - [Anonymous Symbol] 0x080041a4 Section 0 stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer) - UART_EndTxTransfer 0x080041f5 Thumb Code 28 stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer) - [Anonymous Symbol] 0x080041f4 Section 0 stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer) - UART_Get 0x08004211 Thumb Code 30 uart.o(.text.UART_Get) - [Anonymous Symbol] 0x08004210 Section 0 uart.o(.text.UART_Get) - UART_SetConfig 0x08004231 Thumb Code 220 stm32f4xx_hal_uart.o(.text.UART_SetConfig) - [Anonymous Symbol] 0x08004230 Section 0 stm32f4xx_hal_uart.o(.text.UART_SetConfig) - [Anonymous Symbol] 0x0800430c Section 0 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) - [Anonymous 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tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x080059fd Thumb Code 168 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08005aa5 Thumb Code 194 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08005b69 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08005b85 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08005b95 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08005bc9 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x08005c09 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08005cad Thumb Code 156 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x08005d51 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x08005d61 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08005dfd Thumb Code 274 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08005f11 Thumb Code 46 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x08005f41 Thumb Code 22 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x08005f59 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x08005f7d Thumb Code 70 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08005fc5 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x0800605d Thumb Code 126 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x080060dd Thumb Code 418 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x08006281 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x08006351 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x08006395 Thumb Code 388 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x08006519 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x080065c5 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x0800678d Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x080067c9 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08006851 Thumb Code 102 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x080068b9 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x08006931 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x08006a2d Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x08006b59 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08006b65 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x08006b8d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x08006b99 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x08006bad Thumb Code 338 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08006d01 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08006d91 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08006e25 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08006eb9 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x08006f49 Thumb Code 276 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x0800705d Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x080070d1 Thumb Code 104 timers.o(.text.xTimerGenericCommand) - __ARM_fpclassifyf 0x08007139 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_fmod 0x08007161 Thumb Code 254 fmod.o(i.__hardfp_fmod) - __hardfp_tanf 0x08007265 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __mathlib_dbl_invalid 0x080073e1 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) - __mathlib_flt_infnan 0x08007401 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_invalid 0x08007409 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x08007419 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x08007429 Thumb Code 316 rredf.o(i.__mathlib_rredf2) - __aeabi_d2f 0x0800757d Thumb Code 0 d2f.o(x$fpl$d2f) - _d2f 0x0800757d Thumb Code 98 d2f.o(x$fpl$d2f) - __aeabi_dadd 0x080075e1 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - _dadd 0x080075e1 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) - __aeabi_ddiv 0x08007731 Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x08007731 Thumb Code 556 ddiv.o(x$fpl$ddiv) - __aeabi_d2uiz 0x080079e5 Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x080079e5 Thumb Code 90 dfixu.o(x$fpl$dfixu) - __aeabi_ui2d 0x08007a3f Thumb Code 0 dflt_clz.o(x$fpl$dfltu) - _dfltu 0x08007a3f Thumb Code 38 dflt_clz.o(x$fpl$dfltu) - __fpl_dnaninf 0x08007a65 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) - _drem 0x08007b01 Thumb Code 328 drem_clz.o(x$fpl$drem) - __fpl_dretinf 0x08007c51 Thumb Code 12 dretinf.o(x$fpl$dretinf) - __aeabi_drsub 0x08007c5d Thumb Code 0 daddsub_clz.o(x$fpl$drsb) - _drsb 0x08007c5d Thumb Code 22 daddsub_clz.o(x$fpl$drsb) - __aeabi_dsub 0x08007c75 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - _dsub 0x08007c75 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) - __aeabi_f2d 0x08007e51 Thumb Code 0 f2d.o(x$fpl$f2d) - _f2d 0x08007e51 Thumb Code 86 f2d.o(x$fpl$f2d) - __aeabi_ul2f 0x08007ea7 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_uto_f 0x08007ea7 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) - __aeabi_l2f 0x08007ead Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_sto_f 0x08007ead Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) - __fpl_fnaninf 0x08007f07 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) - _fp_init 0x08007f93 Thumb Code 26 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x08007fab Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x08007fab Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fpl_fretinf 0x08007fad Thumb Code 10 fretinf.o(x$fpl$fretinf) - __I$use$fp 0x08007fb6 Number 0 usenofp.o(x$fpl$usenofp) - AHBPrescTable 0x08007fd8 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08007fe8 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_init 0x08007ff0 Data 36 user_task.o(.rodata.attr_init) - attr_rc 0x08008014 Data 36 user_task.o(.rodata.attr_rc) - attr_shoot_ctrl 0x08008038 Data 36 user_task.o(.rodata.attr_shoot_ctrl) - defaultTask_attributes 0x0800805c Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x080080a4 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x080080c4 Number 0 anon$$obj.o(Region$$Table) + Shoot_Control 0x08003801 Thumb Code 108 shoot_control.o(.text.Shoot_Control) + Shoot_Init 0x0800386d Thumb Code 234 shoot_control.o(.text.Shoot_Init) + Shoot_JamDetectionFSM 0x08003959 Thumb Code 276 shoot_control.o(.text.Shoot_JamDetectionFSM) + Shoot_ResetCalu 0x08003a6d Thumb Code 152 shoot_control.o(.text.Shoot_ResetCalu) + Shoot_ResetIntegral 0x08003b05 Thumb Code 68 shoot_control.o(.text.Shoot_ResetIntegral) + Shoot_ResetOutput 0x08003b49 Thumb Code 38 shoot_control.o(.text.Shoot_ResetOutput) + Shoot_RunningFSM 0x08003b71 Thumb Code 1016 shoot_control.o(.text.Shoot_RunningFSM) + StartDefaultTask 0x08003f69 Thumb Code 12 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x08003fa5 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x08003fb9 Thumb Code 164 main.o(.text.SystemClock_Config) + SystemInit 0x0800405d Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + Task_Init 0x08004071 Thumb Code 100 init.o(.text.Task_Init) + Task_rc 0x080040d9 Thumb Code 152 rc.o(.text.Task_rc) + Task_shoot_ctrl 0x08004171 Thumb Code 164 shoot_ctrl.o(.text.Task_shoot_ctrl) + UART_Start_Receive_DMA 0x0800446d Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + UsageFault_Handler 0x08004519 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + eTaskGetState 0x080045d1 Thumb Code 156 tasks.o(.text.eTaskGetState) + main 0x0800466d Thumb Code 46 main.o(.text.main) + osDelay 0x0800469d Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x080046bd Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) + osKernelGetTickCount 0x080046f1 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x08004705 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x0800470d Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x08004735 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x08004761 Thumb Code 52 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x08004795 Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x080047d9 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x08004861 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x08004901 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) + osMutexAcquire 0x08004991 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x080049e5 Thumb Code 150 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x08004a7d Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x08004abd Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x08004b3d Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x08004bf9 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x08004c01 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x08004cb5 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x0800568d Thumb Code 330 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x080057d9 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x080057f1 Thumb Code 40 port.o(.text.pxPortInitialiseStack) + uxListRemove 0x08005819 Thumb Code 36 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x0800583d Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08005859 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vListInitialise 0x08005875 Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x0800588d Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x08005895 Thumb Code 58 list.o(.text.vListInsert) + vListInsertEnd 0x080058d1 Thumb Code 28 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08005901 Thumb Code 70 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08005949 Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x08005979 Thumb Code 138 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08005a05 Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08005a39 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08005a9d Thumb Code 40 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08005ac5 Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08005b09 Thumb Code 84 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x08005b5d Thumb Code 168 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08005c05 Thumb Code 194 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08005cc9 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08005ce5 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08005cf5 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08005d29 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x08005d69 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x08005e0d Thumb Code 156 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08005eb1 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08005ec1 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08005f5d Thumb Code 274 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x08006071 Thumb Code 46 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x080060a1 Thumb Code 22 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x080060b9 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x080060dd Thumb Code 70 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08006125 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x080061bd Thumb Code 126 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x0800623d Thumb Code 418 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x080063e1 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x080064b1 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x080064f5 Thumb Code 388 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08006679 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x08006725 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x080068ed Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08006929 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x080069b1 Thumb Code 102 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08006a19 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08006a91 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x08006b8d Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08006cb9 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08006cc5 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x08006ced Thumb Code 12 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08006cf9 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x08006d0d Thumb Code 338 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x08006e61 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08006ef1 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08006f85 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08007019 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x080070a9 Thumb Code 276 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x080071bd Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x08007231 Thumb Code 104 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassifyf 0x08007299 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_fmod 0x080072c1 Thumb Code 254 fmod.o(i.__hardfp_fmod) + __hardfp_tanf 0x080073c5 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __mathlib_dbl_invalid 0x08007541 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) + __mathlib_flt_infnan 0x08007561 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_invalid 0x08007569 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x08007579 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x08007589 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + __aeabi_d2f 0x080076dd Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x080076dd Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x08007741 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08007741 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __aeabi_ddiv 0x08007891 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08007891 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_d2uiz 0x08007b45 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08007b45 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_ui2d 0x08007b9f Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08007b9f Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __fpl_dnaninf 0x08007bc5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + _drem 0x08007c61 Thumb Code 328 drem_clz.o(x$fpl$drem) + __fpl_dretinf 0x08007db1 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_drsub 0x08007dbd Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x08007dbd Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + __aeabi_dsub 0x08007dd5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x08007dd5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x08007fb1 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x08007fb1 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x08008007 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08008007 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x0800800d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x0800800d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x08008067 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x080080f3 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x0800810b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x0800810b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x0800810d Thumb Code 10 fretinf.o(x$fpl$fretinf) + __I$use$fp 0x08008116 Number 0 usenofp.o(x$fpl$usenofp) + AHBPrescTable 0x08008138 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08008148 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_init 0x08008150 Data 36 user_task.o(.rodata.attr_init) + attr_rc 0x08008174 Data 36 user_task.o(.rodata.attr_rc) + attr_shoot_ctrl 0x08008198 Data 36 user_task.o(.rodata.attr_shoot_ctrl) + defaultTask_attributes 0x080081bc Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08008204 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08008224 Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) - robot_config 0x20000004 Data 180 config.o(.data.robot_config) - uwTickFreq 0x200000b8 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) - uwTickPrio 0x200000bc Data 4 stm32f4xx_hal.o(.data.uwTickPrio) - __libspace_start 0x200000c8 Data 96 libspace.o(.bss) - __temporary_stack_top$libspace 0x20000128 Data 0 libspace.o(.bss) - at9s 0x200001e0 Data 44 rc.o(.bss.at9s) - cmd_buffer 0x20000214 Data 25 rc.o(.bss.cmd_buffer) - defaultTaskHandle 0x20000230 Data 4 freertos.o(.bss.defaultTaskHandle) - hcan1 0x20000234 Data 40 can.o(.bss.hcan1) - hcan2 0x2000025c Data 40 can.o(.bss.hcan2) - hdma_usart3_rx 0x20000284 Data 96 usart.o(.bss.hdma_usart3_rx) - hdma_usart6_tx 0x200002e4 Data 96 usart.o(.bss.hdma_usart6_tx) - huart3 0x20000344 Data 72 usart.o(.bss.huart3) - huart6 0x2000038c Data 72 usart.o(.bss.huart6) - pxCurrentTCB 0x200004d0 Data 4 tasks.o(.bss.pxCurrentTCB) - r 0x20000950 Data 24 at9s_pro.o(.bss.r) - rc_cmd 0x20000968 Data 40 rc.o(.bss.rc_cmd) - shoot 0x20000990 Data 800 shoot_ctrl.o(.bss.shoot) - shoot_cmd 0x20000cb0 Data 3 shoot_ctrl.o(.bss.shoot_cmd) - shoot_ctrl_cmd_rc 0x20000cb4 Data 40 shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc) - task_runtime 0x20000cdc Data 52 user_task.o(.bss.task_runtime) - uwTick 0x2000491c Data 4 stm32f4xx_hal.o(.bss.uwTick) - xQueueRegistry 0x20005074 Data 64 queue.o(.bss.xQueueRegistry) + robot_config 0x20000004 Data 220 config.o(.data.robot_config) + uwTickFreq 0x200000e0 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) + uwTickPrio 0x200000e4 Data 4 stm32f4xx_hal.o(.data.uwTickPrio) + __libspace_start 0x200000f0 Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x20000150 Data 0 libspace.o(.bss) + at9s 0x2000020c Data 44 rc.o(.bss.at9s) + cmd_buffer 0x20000240 Data 25 rc.o(.bss.cmd_buffer) + defaultTaskHandle 0x2000025c Data 4 freertos.o(.bss.defaultTaskHandle) + hcan1 0x20000260 Data 40 can.o(.bss.hcan1) + hcan2 0x20000288 Data 40 can.o(.bss.hcan2) + hdma_usart3_rx 0x200002b0 Data 96 usart.o(.bss.hdma_usart3_rx) + hdma_usart6_tx 0x20000310 Data 96 usart.o(.bss.hdma_usart6_tx) + huart3 0x20000370 Data 72 usart.o(.bss.huart3) + huart6 0x200003b8 Data 72 usart.o(.bss.huart6) + pxCurrentTCB 0x200004fc Data 4 tasks.o(.bss.pxCurrentTCB) + r 0x2000097c Data 24 at9s_pro.o(.bss.r) + rc_cmd 0x20000994 Data 40 rc.o(.bss.rc_cmd) + shoot 0x200009c0 Data 1800 shoot_ctrl.o(.bss.shoot) + shoot_cmd 0x200010c8 Data 3 shoot_ctrl.o(.bss.shoot_cmd) + shoot_ctrl_cmd_rc 0x200010cc Data 40 shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc) + task_runtime 0x200010f4 Data 52 user_task.o(.bss.task_runtime) + uwTick 0x20004d34 Data 4 stm32f4xx_hal.o(.bss.uwTick) + xQueueRegistry 0x2000548c Data 64 queue.o(.bss.xQueueRegistry) @@ -4943,75 +4956,75 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008190, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008318, Max: 0x00100000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000080c4, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00008224, 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 1985 * !!!main c_w.l(__main.o) - 0x08000190 0x08000190 0x00000034 Code RO 2321 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000001a Code RO 2323 !!handler_copy c_w.l(__scatter_copy.o) + 0x08000188 0x08000188 0x00000008 Code RO 1990 * !!!main c_w.l(__main.o) + 0x08000190 0x08000190 0x00000034 Code RO 2326 !!!scatter c_w.l(__scatter.o) + 0x080001c4 0x080001c4 0x0000001a Code RO 2328 !!handler_copy c_w.l(__scatter_copy.o) 0x080001de 0x080001de 0x00000002 PAD - 0x080001e0 0x080001e0 0x0000001c Code RO 2325 !!handler_zi c_w.l(__scatter_zi.o) - 0x080001fc 0x080001fc 0x00000002 Code RO 2186 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x080001fe 0x080001fe 0x00000004 Code RO 2187 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2190 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2193 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2195 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2197 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2200 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2202 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2204 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2206 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2208 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2210 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2212 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2214 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2216 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2218 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2309 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 2312 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 2314 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 2317 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000002 Code RO 2318 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000208 0x08000208 0x00000000 Code RO 2027 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000208 0x08000208 0x00000000 Code RO 2098 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000208 0x08000208 0x00000006 Code RO 2110 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800020e 0x0800020e 0x00000000 Code RO 2100 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800020e 0x0800020e 0x00000004 Code RO 2101 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000000 Code RO 2103 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000008 Code RO 2104 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800021a 0x0800021a 0x00000002 Code RO 2232 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800021c 0x0800021c 0x00000000 Code RO 2251 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800021c 0x0800021c 0x00000004 Code RO 2252 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000220 0x08000220 0x00000006 Code RO 2253 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x080001e0 0x080001e0 0x0000001c Code RO 2330 !!handler_zi c_w.l(__scatter_zi.o) + 0x080001fc 0x080001fc 0x00000002 Code RO 2191 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x080001fe 0x080001fe 0x00000004 Code RO 2192 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2195 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2198 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2200 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2202 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2205 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2207 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2209 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2211 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2213 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2215 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2217 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2219 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2221 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2223 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2225 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2229 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2231 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2233 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2235 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000002 Code RO 2236 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000204 0x08000204 0x00000002 Code RO 2291 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000206 0x08000206 0x00000000 Code RO 2309 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2311 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2314 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2317 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2319 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2322 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000002 Code RO 2323 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x08000208 0x08000208 0x00000000 Code RO 2032 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x08000208 0x08000208 0x00000000 Code RO 2103 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x08000208 0x08000208 0x00000006 Code RO 2115 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x0800020e 0x0800020e 0x00000000 Code RO 2105 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x0800020e 0x0800020e 0x00000004 Code RO 2106 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000212 0x08000212 0x00000000 Code RO 2108 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x08000212 0x08000212 0x00000008 Code RO 2109 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x0800021a 0x0800021a 0x00000002 Code RO 2237 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x0800021c 0x0800021c 0x00000000 Code RO 2256 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x0800021c 0x0800021c 0x00000004 Code RO 2257 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x08000220 0x08000220 0x00000006 Code RO 2258 .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 1932 .text c_w.l(lludivv7m.o) - 0x08000358 0x08000358 0x0000008a Code RO 1971 .text c_w.l(rt_memcpy_v6.o) - 0x080003e2 0x080003e2 0x00000064 Code RO 1973 .text c_w.l(rt_memcpy_w.o) - 0x08000446 0x08000446 0x00000010 Code RO 1977 .text c_w.l(aeabi_memset4.o) - 0x08000456 0x08000456 0x0000004e Code RO 1981 .text c_w.l(rt_memclr_w.o) - 0x080004a4 0x080004a4 0x00000006 Code RO 1983 .text c_w.l(heapauxi.o) - 0x080004aa 0x080004aa 0x00000016 Code RO 2032 .text c_w.l(_rserrno.o) - 0x080004c0 0x080004c0 0x00000008 Code RO 2122 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x080004c8 0x080004c8 0x00000008 Code RO 2166 .text c_w.l(libspace.o) - 0x080004d0 0x080004d0 0x0000004a Code RO 2169 .text c_w.l(sys_stackheap_outer.o) - 0x0800051a 0x0800051a 0x00000012 Code RO 2173 .text c_w.l(exit.o) - 0x0800052c 0x0800052c 0x0000000c Code RO 2246 .text c_w.l(sys_exit.o) - 0x08000538 0x08000538 0x00000002 Code RO 2273 .text c_w.l(use_no_semi.o) - 0x0800053a 0x0800053a 0x00000000 Code RO 2275 .text c_w.l(indicate_semi.o) + 0x08000268 0x08000268 0x000000f0 Code RO 1937 .text c_w.l(lludivv7m.o) + 0x08000358 0x08000358 0x0000008a Code RO 1976 .text c_w.l(rt_memcpy_v6.o) + 0x080003e2 0x080003e2 0x00000064 Code RO 1978 .text c_w.l(rt_memcpy_w.o) + 0x08000446 0x08000446 0x00000010 Code RO 1982 .text c_w.l(aeabi_memset4.o) + 0x08000456 0x08000456 0x0000004e Code RO 1986 .text c_w.l(rt_memclr_w.o) + 0x080004a4 0x080004a4 0x00000006 Code RO 1988 .text c_w.l(heapauxi.o) + 0x080004aa 0x080004aa 0x00000016 Code RO 2037 .text c_w.l(_rserrno.o) + 0x080004c0 0x080004c0 0x00000008 Code RO 2127 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x080004c8 0x080004c8 0x00000008 Code RO 2171 .text c_w.l(libspace.o) + 0x080004d0 0x080004d0 0x0000004a Code RO 2174 .text c_w.l(sys_stackheap_outer.o) + 0x0800051a 0x0800051a 0x00000012 Code RO 2178 .text c_w.l(exit.o) + 0x0800052c 0x0800052c 0x0000000c Code RO 2251 .text c_w.l(sys_exit.o) + 0x08000538 0x08000538 0x00000002 Code RO 2278 .text c_w.l(use_no_semi.o) + 0x0800053a 0x0800053a 0x00000000 Code RO 2280 .text c_w.l(indicate_semi.o) 0x0800053a 0x0800053a 0x00000002 PAD 0x0800053c 0x0800053c 0x00000022 Code RO 1773 .text.AbsClip user_math.o 0x0800055e 0x0800055e 0x00000002 PAD @@ -5056,7 +5069,7 @@ Memory Map of the image 0x08000e54 0x08000e54 0x00000004 PAD 0x08000e58 0x08000e58 0x000001c4 Code RO 1864 .text.Chassis_UpdateFeedback shoot_control.o 0x0800101c 0x0800101c 0x0000003c Code RO 1783 .text.CircleError user_math.o - 0x08001058 0x08001058 0x0000000a Code RO 1879 .text.Config_GetRobotParam config.o + 0x08001058 0x08001058 0x0000000a Code RO 1884 .text.Config_GetRobotParam config.o 0x08001062 0x08001062 0x00000002 PAD 0x08001064 0x08001064 0x00000046 Code RO 1748 .text.DEVICE_AT9S_Init at9s_pro.o 0x080010aa 0x080010aa 0x00000002 PAD @@ -5190,355 +5203,359 @@ Memory Map of the image 0x0800373c 0x0800373c 0x00000036 Code RO 1868 .text.ScaleSumTo1 shoot_control.o 0x08003772 0x08003772 0x00000002 PAD 0x08003774 0x08003774 0x0000008c Code RO 1860 .text.Shoot_CaluTargetAngle shoot_control.o - 0x08003800 0x08003800 0x00000420 Code RO 1866 .text.Shoot_Control shoot_control.o - 0x08003c20 0x08003c20 0x000000ea Code RO 1862 .text.Shoot_Init shoot_control.o - 0x08003d0a 0x08003d0a 0x00000002 PAD - 0x08003d0c 0x08003d0c 0x00000094 Code RO 1854 .text.Shoot_ResetCalu shoot_control.o - 0x08003da0 0x08003da0 0x00000042 Code RO 1852 .text.Shoot_ResetIntegral shoot_control.o - 0x08003de2 0x08003de2 0x00000002 PAD - 0x08003de4 0x08003de4 0x00000026 Code RO 1856 .text.Shoot_ResetOutput shoot_control.o - 0x08003e0a 0x08003e0a 0x00000002 PAD - 0x08003e0c 0x08003e0c 0x0000000c Code RO 35 .text.StartDefaultTask freertos.o - 0x08003e18 0x08003e18 0x0000002e Code RO 523 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x08003e46 0x08003e46 0x00000002 PAD - 0x08003e48 0x08003e48 0x00000014 Code RO 107 .text.SysTick_Handler stm32f4xx_it.o - 0x08003e5c 0x08003e5c 0x000000a4 Code RO 13 .text.SystemClock_Config main.o - 0x08003f00 0x08003f00 0x00000012 Code RO 798 .text.SystemInit system_stm32f4xx.o - 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user_task.o + 0x08008204 0x08008204 0x00000020 Data RO 2325 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080080c8, Size: 0x000056f8, Max: 0x0001c000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008228, Size: 0x00005b10, Max: 0x0001c000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x080080c8 0x00000004 Data RW 802 .data.SystemCoreClock system_stm32f4xx.o - 0x20000004 0x080080cc 0x000000b4 Data RW 1881 .data.robot_config config.o - 0x200000b8 0x08008180 0x00000001 Data RW 630 .data.uwTickFreq stm32f4xx_hal.o - 0x200000b9 0x08008181 0x00000003 PAD - 0x200000bc 0x08008184 0x00000004 Data RW 629 .data.uwTickPrio stm32f4xx_hal.o - 0x200000c0 0x08008188 0x00000004 Data RW 1479 .data.uxCriticalNesting port.o - 0x200000c4 0x0800818c 0x00000004 PAD - 0x200000c8 - 0x00000060 Zero RW 2167 .bss c_w.l(libspace.o) - 0x20000128 - 0x00000068 Zero RW 1564 .bss.CAN_Callback can_1.o - 0x20000190 - 0x00000004 Zero RW 57 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o - 0x20000194 - 0x00000004 Zero RW 1405 .bss.KernelState cmsis_os2.o - 0x20000198 - 0x00000048 Zero RW 1633 .bss.UART_Callback uart.o - 0x200001e0 - 0x0000002c Zero RW 1899 .bss.at9s rc.o - 0x2000020c - 0x00000008 Zero RW 1718 .bss.can_managers motor_rm.o - 0x20000214 - 0x00000019 Zero RW 1900 .bss.cmd_buffer rc.o - 0x2000022d 0x0800818c 0x00000003 PAD - 0x20000230 - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o - 0x20000234 - 0x00000028 Zero RW 55 .bss.hcan1 can.o - 0x2000025c - 0x00000028 Zero RW 56 .bss.hcan2 can.o - 0x20000284 - 0x00000060 Zero RW 85 .bss.hdma_usart3_rx usart.o - 0x200002e4 - 0x00000060 Zero RW 86 .bss.hdma_usart6_tx usart.o - 0x20000344 - 0x00000048 Zero RW 83 .bss.huart3 usart.o - 0x2000038c - 0x00000048 Zero RW 84 .bss.huart6 usart.o - 0x200003d4 - 0x00000004 Zero RW 1566 .bss.id_parser can_1.o - 0x200003d8 - 0x00000001 Zero RW 1565 .bss.inited can_1.o - 0x200003d9 - 0x00000001 Zero RW 1760 .bss.inited at9s_pro.o - 0x200003da - 0x00000001 Zero RW 1870 .bss.last_firecmd shoot_control.o - 0x200003db - 0x000000a0 Zero RW 1232 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x2000047b 0x0800818c 0x00000001 PAD - 0x2000047c - 0x00000050 Zero RW 1231 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x200004cc - 0x00000004 Zero RW 1228 .bss.prvSampleTimeNow.xLastTime timers.o - 0x200004d0 - 0x00000004 Zero RW 1141 .bss.pxCurrentTCB tasks.o - 0x200004d4 - 0x00000004 Zero RW 1226 .bss.pxCurrentTimerList timers.o - 0x200004d8 - 0x00000004 Zero RW 1149 .bss.pxDelayedTaskList tasks.o - 0x200004dc - 0x00000004 Zero RW 1435 .bss.pxEnd heap_4.o - 0x200004e0 - 0x00000004 Zero RW 1150 .bss.pxOverflowDelayedTaskList tasks.o - 0x200004e4 - 0x00000004 Zero RW 1227 .bss.pxOverflowTimerList timers.o - 0x200004e8 - 0x00000460 Zero RW 1152 .bss.pxReadyTasksLists tasks.o - 0x20000948 - 0x00000004 Zero RW 1568 .bss.queue_list can_1.o - 0x2000094c - 0x00000004 Zero RW 1567 .bss.queue_mutex can_1.o - 0x20000950 - 0x00000018 Zero RW 1762 .bss.r at9s_pro.o - 0x20000968 - 0x00000028 Zero RW 1901 .bss.rc_cmd rc.o - 0x20000990 - 0x00000320 Zero RW 1911 .bss.shoot shoot_ctrl.o - 0x20000cb0 - 0x00000003 Zero RW 1913 .bss.shoot_cmd shoot_ctrl.o - 0x20000cb3 0x0800818c 0x00000001 PAD - 0x20000cb4 - 0x00000028 Zero RW 1912 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o - 0x20000cdc - 0x00000034 Zero RW 1925 .bss.task_runtime user_task.o - 0x20000d10 - 0x00000004 Zero RW 1761 .bss.thread_alert at9s_pro.o - 0x20000d14 - 0x00003c00 Zero RW 1442 .bss.ucHeap heap_4.o - 0x20004914 - 0x00000001 Zero RW 1477 .bss.ucMaxSysCallPriority port.o - 0x20004915 0x0800818c 0x00000003 PAD - 0x20004918 - 0x00000004 Zero RW 1478 .bss.ulMaxPRIGROUPValue port.o - 0x2000491c - 0x00000004 Zero RW 631 .bss.uwTick stm32f4xx_hal.o - 0x20004920 - 0x00000004 Zero RW 1145 .bss.uxCurrentNumberOfTasks tasks.o - 0x20004924 - 0x00000004 Zero RW 1144 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x20004928 - 0x00000004 Zero RW 1147 .bss.uxSchedulerSuspended tasks.o - 0x2000492c - 0x00000004 Zero RW 1142 .bss.uxTaskNumber tasks.o - 0x20004930 - 0x00000004 Zero RW 1153 .bss.uxTopReadyPriority tasks.o - 0x20004934 - 0x00000200 Zero RW 1408 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x20004b34 - 0x0000005c Zero RW 1407 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x20004b90 - 0x00000400 Zero RW 1410 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x20004f90 - 0x0000005c Zero RW 1409 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x20004fec - 0x00000014 Zero RW 1229 .bss.xActiveTimerList1 timers.o - 0x20005000 - 0x00000014 Zero RW 1230 .bss.xActiveTimerList2 timers.o - 0x20005014 - 0x00000001 Zero RW 1436 .bss.xBlockAllocatedBit heap_4.o - 0x20005015 0x0800818c 0x00000003 PAD - 0x20005018 - 0x00000014 Zero RW 1160 .bss.xDelayedTaskList1 tasks.o - 0x2000502c - 0x00000014 Zero RW 1161 .bss.xDelayedTaskList2 tasks.o - 0x20005040 - 0x00000004 Zero RW 1437 .bss.xFreeBytesRemaining heap_4.o - 0x20005044 - 0x00000004 Zero RW 1155 .bss.xIdleTaskHandle tasks.o - 0x20005048 - 0x00000004 Zero RW 1439 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x2000504c - 0x00000004 Zero RW 1156 .bss.xNextTaskUnblockTime tasks.o - 0x20005050 - 0x00000004 Zero RW 1159 .bss.xNumOfOverflows tasks.o - 0x20005054 - 0x00000004 Zero RW 1440 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x20005058 - 0x00000004 Zero RW 1441 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x2000505c - 0x00000004 Zero RW 1158 .bss.xPendedTicks tasks.o - 0x20005060 - 0x00000014 Zero RW 1154 .bss.xPendingReadyList tasks.o - 0x20005074 - 0x00000040 Zero RW 950 .bss.xQueueRegistry queue.o - 0x200050b4 - 0x00000004 Zero RW 1146 .bss.xSchedulerRunning tasks.o - 0x200050b8 - 0x00000008 Zero RW 1438 .bss.xStart heap_4.o - 0x200050c0 - 0x00000014 Zero RW 1151 .bss.xSuspendedTaskList tasks.o - 0x200050d4 - 0x00000014 Zero RW 1143 .bss.xTasksWaitingTermination tasks.o - 0x200050e8 - 0x00000004 Zero RW 1148 .bss.xTickCount tasks.o - 0x200050ec - 0x00000004 Zero RW 1224 .bss.xTimerQueue timers.o - 0x200050f0 - 0x00000004 Zero RW 1225 .bss.xTimerTaskHandle timers.o - 0x200050f4 - 0x00000004 Zero RW 1157 .bss.xYieldPending tasks.o - 0x200050f8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x200052f8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000000 0x08008228 0x00000004 Data RW 802 .data.SystemCoreClock system_stm32f4xx.o + 0x20000004 0x0800822c 0x000000dc Data RW 1886 .data.robot_config config.o + 0x200000e0 0x08008308 0x00000001 Data RW 630 .data.uwTickFreq stm32f4xx_hal.o + 0x200000e1 0x08008309 0x00000003 PAD + 0x200000e4 0x0800830c 0x00000004 Data RW 629 .data.uwTickPrio stm32f4xx_hal.o + 0x200000e8 0x08008310 0x00000004 Data RW 1479 .data.uxCriticalNesting port.o + 0x200000ec 0x08008314 0x00000004 PAD + 0x200000f0 - 0x00000060 Zero RW 2172 .bss c_w.l(libspace.o) + 0x20000150 - 0x00000068 Zero RW 1564 .bss.CAN_Callback can_1.o + 0x200001b8 - 0x00000004 Zero RW 57 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o + 0x200001bc - 0x00000004 Zero RW 1405 .bss.KernelState cmsis_os2.o + 0x200001c0 - 0x00000004 Zero RW 1874 .bss.Shoot_RunningFSM.pos shoot_control.o + 0x200001c4 - 0x00000048 Zero RW 1633 .bss.UART_Callback uart.o + 0x2000020c - 0x0000002c Zero RW 1904 .bss.at9s rc.o + 0x20000238 - 0x00000008 Zero RW 1718 .bss.can_managers motor_rm.o + 0x20000240 - 0x00000019 Zero RW 1905 .bss.cmd_buffer rc.o + 0x20000259 0x08008314 0x00000003 PAD + 0x2000025c - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o + 0x20000260 - 0x00000028 Zero RW 55 .bss.hcan1 can.o + 0x20000288 - 0x00000028 Zero RW 56 .bss.hcan2 can.o + 0x200002b0 - 0x00000060 Zero RW 85 .bss.hdma_usart3_rx usart.o + 0x20000310 - 0x00000060 Zero RW 86 .bss.hdma_usart6_tx usart.o + 0x20000370 - 0x00000048 Zero RW 83 .bss.huart3 usart.o + 0x200003b8 - 0x00000048 Zero RW 84 .bss.huart6 usart.o + 0x20000400 - 0x00000004 Zero RW 1566 .bss.id_parser can_1.o + 0x20000404 - 0x00000001 Zero RW 1565 .bss.inited can_1.o + 0x20000405 - 0x00000001 Zero RW 1760 .bss.inited at9s_pro.o + 0x20000406 - 0x00000001 Zero RW 1875 .bss.last_firecmd shoot_control.o + 0x20000407 - 0x000000a0 Zero RW 1232 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x200004a7 0x08008314 0x00000001 PAD + 0x200004a8 - 0x00000050 Zero RW 1231 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x200004f8 - 0x00000004 Zero RW 1228 .bss.prvSampleTimeNow.xLastTime timers.o + 0x200004fc - 0x00000004 Zero RW 1141 .bss.pxCurrentTCB tasks.o + 0x20000500 - 0x00000004 Zero RW 1226 .bss.pxCurrentTimerList timers.o + 0x20000504 - 0x00000004 Zero RW 1149 .bss.pxDelayedTaskList tasks.o + 0x20000508 - 0x00000004 Zero RW 1435 .bss.pxEnd heap_4.o + 0x2000050c - 0x00000004 Zero RW 1150 .bss.pxOverflowDelayedTaskList tasks.o + 0x20000510 - 0x00000004 Zero RW 1227 .bss.pxOverflowTimerList timers.o + 0x20000514 - 0x00000460 Zero RW 1152 .bss.pxReadyTasksLists tasks.o + 0x20000974 - 0x00000004 Zero RW 1568 .bss.queue_list can_1.o + 0x20000978 - 0x00000004 Zero RW 1567 .bss.queue_mutex can_1.o + 0x2000097c - 0x00000018 Zero RW 1762 .bss.r at9s_pro.o + 0x20000994 - 0x00000028 Zero RW 1906 .bss.rc_cmd rc.o + 0x200009bc 0x08008314 0x00000004 PAD + 0x200009c0 - 0x00000708 Zero RW 1916 .bss.shoot shoot_ctrl.o + 0x200010c8 - 0x00000003 Zero RW 1918 .bss.shoot_cmd shoot_ctrl.o + 0x200010cb 0x08008314 0x00000001 PAD + 0x200010cc - 0x00000028 Zero RW 1917 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o + 0x200010f4 - 0x00000034 Zero RW 1930 .bss.task_runtime user_task.o + 0x20001128 - 0x00000004 Zero RW 1761 .bss.thread_alert at9s_pro.o + 0x2000112c - 0x00003c00 Zero RW 1442 .bss.ucHeap heap_4.o + 0x20004d2c - 0x00000001 Zero RW 1477 .bss.ucMaxSysCallPriority port.o + 0x20004d2d 0x08008314 0x00000003 PAD + 0x20004d30 - 0x00000004 Zero RW 1478 .bss.ulMaxPRIGROUPValue port.o + 0x20004d34 - 0x00000004 Zero RW 631 .bss.uwTick stm32f4xx_hal.o + 0x20004d38 - 0x00000004 Zero RW 1145 .bss.uxCurrentNumberOfTasks tasks.o + 0x20004d3c - 0x00000004 Zero RW 1144 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x20004d40 - 0x00000004 Zero RW 1147 .bss.uxSchedulerSuspended tasks.o + 0x20004d44 - 0x00000004 Zero RW 1142 .bss.uxTaskNumber tasks.o + 0x20004d48 - 0x00000004 Zero RW 1153 .bss.uxTopReadyPriority tasks.o + 0x20004d4c - 0x00000200 Zero RW 1408 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x20004f4c - 0x0000005c Zero RW 1407 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20004fa8 - 0x00000400 Zero RW 1410 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x200053a8 - 0x0000005c Zero RW 1409 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x20005404 - 0x00000014 Zero RW 1229 .bss.xActiveTimerList1 timers.o + 0x20005418 - 0x00000014 Zero RW 1230 .bss.xActiveTimerList2 timers.o + 0x2000542c - 0x00000001 Zero RW 1436 .bss.xBlockAllocatedBit heap_4.o + 0x2000542d 0x08008314 0x00000003 PAD + 0x20005430 - 0x00000014 Zero RW 1160 .bss.xDelayedTaskList1 tasks.o + 0x20005444 - 0x00000014 Zero RW 1161 .bss.xDelayedTaskList2 tasks.o + 0x20005458 - 0x00000004 Zero RW 1437 .bss.xFreeBytesRemaining heap_4.o + 0x2000545c - 0x00000004 Zero RW 1155 .bss.xIdleTaskHandle tasks.o + 0x20005460 - 0x00000004 Zero RW 1439 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x20005464 - 0x00000004 Zero RW 1156 .bss.xNextTaskUnblockTime tasks.o + 0x20005468 - 0x00000004 Zero RW 1159 .bss.xNumOfOverflows tasks.o + 0x2000546c - 0x00000004 Zero RW 1440 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x20005470 - 0x00000004 Zero RW 1441 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x20005474 - 0x00000004 Zero RW 1158 .bss.xPendedTicks tasks.o + 0x20005478 - 0x00000014 Zero RW 1154 .bss.xPendingReadyList tasks.o + 0x2000548c - 0x00000040 Zero RW 950 .bss.xQueueRegistry queue.o + 0x200054cc - 0x00000004 Zero RW 1146 .bss.xSchedulerRunning tasks.o + 0x200054d0 - 0x00000008 Zero RW 1438 .bss.xStart heap_4.o + 0x200054d8 - 0x00000014 Zero RW 1151 .bss.xSuspendedTaskList tasks.o + 0x200054ec - 0x00000014 Zero RW 1143 .bss.xTasksWaitingTermination tasks.o + 0x20005500 - 0x00000004 Zero RW 1148 .bss.xTickCount tasks.o + 0x20005504 - 0x00000004 Zero RW 1224 .bss.xTimerQueue timers.o + 0x20005508 - 0x00000004 Zero RW 1225 .bss.xTimerTaskHandle timers.o + 0x2000550c - 0x00000004 Zero RW 1157 .bss.xYieldPending tasks.o + 0x20005510 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x20005710 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008190, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008318, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -5555,7 +5572,7 @@ Image component sizes 414 0 0 0 84 6380 can.o 1952 4 0 0 117 17399 can_1.o 1672 0 0 0 1724 42592 cmsis_os2.o - 10 0 0 180 0 1737 config.o + 10 0 0 220 0 1794 config.o 90 0 0 0 0 3293 dma.o 410 20 0 0 0 4100 filter.o 70 0 48 0 4 2523 freertos.o @@ -5570,8 +5587,8 @@ Image component sizes 872 16 0 4 5 3792 port.o 2680 0 0 0 64 22578 queue.o 152 8 0 0 109 1955 rc.o - 2188 68 0 0 1 8261 shoot_control.o - 164 12 0 0 843 4551 shoot_ctrl.o + 2538 84 0 0 5 9479 shoot_control.o + 164 12 0 0 1843 4936 shoot_ctrl.o 64 26 392 0 1536 804 startup_stm32f407xx.o 172 0 0 5 4 7276 stm32f4xx_hal.o 1674 6 0 0 0 13145 stm32f4xx_hal_can.o @@ -5592,9 +5609,9 @@ Image component sizes 0 0 132 0 52 2872 user_task.o ---------------------------------------------------------------------- - 27708 310 628 196 21972 299320 Object Totals + 28060 326 628 236 22980 300980 Object Totals 0 0 32 0 0 0 (incl. Generated) - 266 16 0 3 15 0 (incl. Padding) + 268 16 0 3 19 0 (incl. Padding) ---------------------------------------------------------------------- @@ -5670,15 +5687,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 32304 626 660 196 22068 300544 Grand Totals - 32304 626 660 196 22068 300544 ELF Image Totals - 32304 626 660 196 0 0 ROM Totals + 32656 642 660 236 23076 302204 Grand Totals + 32656 642 660 236 23076 302204 ELF Image Totals + 32656 642 660 236 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 32964 ( 32.19kB) - Total RW Size (RW Data + ZI Data) 22264 ( 21.74kB) - Total ROM Size (Code + RO Data + RW Data) 33160 ( 32.38kB) + Total RO Size (Code + RO Data) 33316 ( 32.54kB) + Total RW Size (RW Data + ZI Data) 23312 ( 22.77kB) + Total ROM Size (Code + RO Data + RW Data) 33552 ( 32.77kB) ============================================================================== diff --git a/MDK-ARM/shoot/shoot_control.o b/MDK-ARM/shoot/shoot_control.o index 3c37eecb9bdf524d60a75090652eb0fe32fc7f67..f5b5ec6a9e476312dabe13bbc6ecb3b833c2b91b 100644 GIT binary patch literal 21500 zcmb_^3w%`7wf8=AW=|%Q5Rz~RAtFv7K!7kL;VCL6+ zKhF8Dwf5R;uf6u#`<$8CVQX1UxnUT>DTc@uL!1z=RH_;|S3#~QW^HcDu}^}LOOm|K5kiTmN*@d+taPdGERZ zQYeB)-|Z@*oloM{RR6i9CuaTeZ1Jp^XV0Nn_U;uQ)o$o37w5b!;#}$KUw-t-b>i5c z$3OgGk+S~qhmR=CEkAswBB1&mI4&HzVu2h8%6Crsb>Dv7_n}zQZvVOG);oIsbH9(% z@aqH5o}=%cEgtS0M@#>@9#6$sPv@`CW^W?++#hSjbAuJe(RWivjKYj9>nD_Yb}q%=&Ig>;9M#*dLppbw|vYk$&TfUSp#QM|Cam4 zt(yzJ+ZUT3xFaT@QJ-}vmJSUg0F3}O`eO9~`PQLWa#qr5JEEkIoGDhd^7TWpge>Y) zZ{@_k!8cQFFWwma^W$%ft}FuLsyyzD6LYYXbKor(xhu|oB3e%DDi_n6PCR+0C~){p z(Qfv+_O0gztv<%VKTwnCAFu-64=!;Dbc<1@&2N$HyJ#wZ}&EN~i4ud*!rb2N)09TQ< z=#24b=B&Qh%&g24rv@#NUrN7+D3SY%6Jj7Q+5i3y zV5Z7|C;B|dgUQ>B+@iDJ-gYSV$9r+@7CG4Ct}i<0jjT9p`F}C!eNY^`FIE>wdf%JS zcP26LM$DV_T5KlxL|;C4q%1~ZXKbOWxeqhMS|4^s)+G#_Rx^+=Flf}4?~E;0++EPV zE4DZ*33cgCs$MJh+Ua}x(D5`*(H^ZWyT|Bp^$6ar%qhhoQfGb8EA z8<>qGtQ^M=TUH3!e<|6XSgo?0gw?Spwldz!p4h5DX+AxF3nRRD5RpVIO13dlj8pDr zfv8N~cJH7^)nsp@Z}(vb6E}FWQ%m;@W~S~Ld{bC&TRGww>w?N>|J>5Nznmm*Tlc^-P3${%L=j)a;$p<6EbjHrSal#* z^;0p|Kj8Hz4g?dA;K?Hg{PGo7d^Z1oj1ObOs5tp^f8QGAx%+Me_nlr-zOtOz!ciTH zU4dM>!p^15%q44@&Y?snhyGpVkl&RKsZ`IdrSep?jcxk1L06b>+~l z$f1Qghx`K-e&$fZfIs0!ClAF6b~|}}S-KKg-ok8v1J_=LSy%SF7i6>QP(2;5_;ZUKhc<)9YIg zV5P#>tRKVA#*Nw7DY^2^;C9S{V=bsM>j2&l4#eiFT@~*K@u&Z!Hx6Lc9*SjTiJ-G< z`(9_;q9;<13gr_ir~Uqzm+u$x_VRVxKBJv_lw){FcvPzo-x0^|z2~0Azj*1T%Y?Y0 z)QRokC;4_D^{zVgL~?odcbVUIj;HVD^P>+>s2%W_vS0tvGr2G8o?_BNbzW6BY4h`c z^ccD2+2u3T+Z?^%)A{gG?DsiQ^(M;s`~-#lv-ofsqLz??%M@QRYJsXadf1;-r6E@8 znol#a2=#`jCoIOLtdS_fggk#`e%BpYS*Z9q=gY;{?P2>bISeXPaT@IfcMum`u`7n`y$Hc8=dYqF*92M-&YC2zqLjt4O`2JO z2_iHq@=8J}-0_H;yu|$;YFtU^gB^;AKUFrbd<9^ezY^_Kam=TJ3*y2cx1q6JoXQ~B z`MAzoNmWjnYYFAJ)Krl0!DncLQpM?zjBRKo4c(3l<0c%(r4sf9 z5dVe?@|OYUY;q7_+dS_U;#XR=gce1v#$A>3^qh{0&*5_UXQUZZQpQL#CDnI9N}93S zhY*J#OgD-GX3COy>mCMe95rt70?ZE7{REfsqEtq_ z7Xki5Y1|D3ZyDIN32cyqK4l|RxoP>Pu=O7Y}IF#Q24uH#p^XU1762v1Z-dYJHU91L=PGmo{IwafE9tSD2;EiD)1EUrtt3p z__dyy9(W$C2%N;t2)u>6N7yF3lLPc!1U^<(qhK~(H9as9tO$hISD=Vhft9$MPTLCu z5v8zIDcr9Vo^mP3tiVa7a9Sx0P{EG6+ML!IjA@1)b;M2wIYR}R6ZA9#no+>D1x@<_ zY^Ae8`D`1~ZTC5CL#i#e1#TO5+c~bb zQ&rn?wk_6e|J`X@tlDDL3hsAy+j3W1wZX1i!?tz0Z4Tm~e6C~LBomLS6-=kPpTL4W zQf~Xkx;D0I(5-5mRt;?B-3wMFVFQ!UZpE22*7dX1wYt?yPOEEGt8-wpk%7jwxp3K= z3Dq0e^|kC;7UH%YSMn0bRgPZo8p(5LYpnYMt?$*=KLufrV61x*bw;w0WYp#%4UFVGtn4IX zWhl-hKa5`T$&O;DlCMg0aV0+k`CQ6JQ;toFH%pD-85*5t*n>#@4HVTNrWqVXY9Vea zveOI|TGg-(jg57$vEdr0A$JSaaE;yYF{j}gyJ6aG5L|#JzJ>nL1S91qb0sRxwH+!vfpffm4+x^x=IH}}2QY}uPn!cTu^(EMvicxxR z&9t~&xLCZq$6GIfzLfOd304>OPj4cweJ@$3K$npI;wkGw*uIYR{?lW(f?iC$J8O&# zzxQ_Qix8*|?-16#4t>BY#(o{lMruA#Z;Ux>dhfQzqOUh-=N>V3okQPy*cjUa<{eht zx859kjlIxUvv zg~>}uZzxqE`X1@4Yb=IH(bu$DjF6(+_F4>(qT3&{7@n8lmiPLXGE%)=DmZVFj|$Ar zwQ9s_T;2AF72V?%%AjONoBdGi9a7xnQoIh8Ia&fOGN+2L7Exk`3C7vNP7l4E8v@)kr9;HRyIfuOimKkWQU&YwYW1Wd5+(j z=Fn4;t?3RuHPtF`=xLU9i9_dRT9pnxeS%2iM*J`Y-f3xC)q$Z5DeyzPt$Pm_lIP^HLHQ>;hehXhdslF4&CyQ}(!m%|PEALrU zdRJs5d#kORK&oA)Mp(Ob8}Bl&bvNjRT%^nWB5ggw@Kv^%l(rnQB&J*?5~TzX)SQ*x_qn1q3bKG8qg|? 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zKo#s|xpUYK0QV^IG9sLz6nk=2o{iPgl5)ys={e!UkH3j-q~11l5IR0if( zKo#s 0) ? 1.0f : 0.0f; } inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); } /** - * \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值 - * 例如编码器：相差1.5PI其实等于相差-0.5PI +* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x + *例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; * - * \param sp 被操作的值 - * \param fb 变化量 + * \param sp 设定值 + * \param fb 反馈值 * \param range 被操作的值变化范围，正数时起效 * * \return 函数运行结果 @@ -70,9 +70,12 @@ inline float CircleError(float sp, float fb, float range) { return error; } + + + /** - * \brief 循环加法，用于没有负数值，并在一定范围内变化的值 - * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI + * \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x + * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; * * \param origin 被操作的值 * \param delta 变化量 diff --git a/User/module/config.c b/User/module/config.c index 4440299..a8c3c7c 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -22,12 +22,13 @@ Config_RobotParam_t robot_config = { .trig_step_angle=M_2PI/8, .shot_delay_time=0.2f, .shot_burst_num=4, - + .jam_threshold=120.0f, + .jam_suspected_time=0.5f, .fric_motor_param[0] = { .can = BSP_CAN_2, .id = 0x201, .module = MOTOR_M3508, - .reverse = false, + .reverse = true, .gear=false, }, .fric_motor_param[1] = { @@ -37,9 +38,37 @@ Config_RobotParam_t robot_config = { .reverse = true, .gear=false, }, - .trig_motor_param = { + .fric_motor_param[2] = { .can = BSP_CAN_2, .id = 0x203, + .module = MOTOR_M3508, + .reverse = true, + .gear=false, + }, + .fric_motor_param[3] = { + .can = BSP_CAN_2, + .id = 0x204, + .module = MOTOR_M3508, + .reverse = true, + .gear=false, + }, + .fric_motor_param[4] = { + .can = BSP_CAN_2, + .id = 0x205, + .module = MOTOR_M3508, + .reverse = false, + .gear=false, + }, + .fric_motor_param[5] = { + .can = BSP_CAN_2, + .id = 0x206, + .module = MOTOR_M3508, + .reverse = false, + .gear=false, + }, + .trig_motor_param = { + .can = BSP_CAN_1, + .id = 0x203, .module = MOTOR_M2006, .reverse = false, .gear=true, @@ -65,12 +94,12 @@ Config_RobotParam_t robot_config = { .range=-1.0f, }, .trig = { - .k=1.0f, + .k=2.0f, .p=1.0f, .i=0.1f, - .d=0.05f, + .d=0.04f, .i_limit=0.8f, - .out_limit=0.5f, + .out_limit=1.0f, .d_cutoff_freq=-1.0f, .range=M_2PI, }, @@ -80,7 +109,7 @@ Config_RobotParam_t robot_config = { .i=0.3f, .d=0.5f, .i_limit=0.2f, - .out_limit=0.9f, + .out_limit=0.8f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c index ebb7e9f..5cd2675 100644 --- a/User/module/shoot_control.c +++ b/User/module/shoot_control.c @@ -19,7 +19,7 @@ static inline void ScaleSumTo1(float *a, float *b) { } -int8_t Shoot_SetMode(shoot_t *s, Shoot_Mode_t mode) +int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode) { if (s == NULL) { return -1; // 参数错误 @@ -28,7 +28,7 @@ int8_t Shoot_SetMode(shoot_t *s, Shoot_Mode_t mode) return 0; } -int8_t Shoot_ResetIntegral(shoot_t *s) +int8_t Shoot_ResetIntegral(Shoot_t *s) { if (s == NULL) { return -1; // 参数错误 @@ -43,7 +43,7 @@ int8_t Shoot_ResetIntegral(shoot_t *s) return 0; } -int8_t Shoot_ResetCalu(shoot_t *s) +int8_t Shoot_ResetCalu(Shoot_t *s) { if (s == NULL) { return -1; // 参数错误 @@ -62,7 +62,7 @@ int8_t Shoot_ResetCalu(shoot_t *s) return 0; } -int8_t Shoot_ResetOutput(shoot_t *s) +int8_t Shoot_ResetOutput(Shoot_t *s) { if (s == NULL) { return -1; // 参数错误 @@ -80,7 +80,7 @@ int8_t Shoot_ResetOutput(shoot_t *s) return 0; } -int8_t Shoot_CaluTargetRPM(shoot_t *s, float target_speed) +int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) { if (s == NULL) { return -1; // 参数错误 @@ -94,23 +94,23 @@ int8_t Shoot_CaluTargetRPM(shoot_t *s, float target_speed) * \param s 包含发射数据的结构体 * \param num 需要发射的弹丸数量 */ -int8_t Shoot_CaluTargetAngle(shoot_t *s, Shoot_CMD_t *cmd) +int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) { - if (s == NULL || s->shoot_Anglecalu.num_to_shoot == 0) { + if (s == NULL || s->anglecalu.num_to_shoot == 0) { return -1; } - if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd) + if(s->now - s->anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd) { - s->shoot_Anglecalu.time_last_shoot=s->now; + s->anglecalu.time_last_shoot=s->now; s->target_variable.target_angle += s->param->trig_step_angle; if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI; else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI; - s->shoot_Anglecalu.num_to_shoot--; + s->anglecalu.num_to_shoot--; } return 0; } -int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq) +int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) { if (s == NULL || param == NULL || target_freq <= 0.0f) { return -1; // 参数错误 @@ -131,13 +131,13 @@ int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq) LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in); LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out); - memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu)); + memset(&s->anglecalu,0,sizeof(s->anglecalu)); memset(&s->output,0,sizeof(s->output)); return 0; } -int8_t Chassis_UpdateFeedback(shoot_t *s) +int8_t Chassis_UpdateFeedback(Shoot_t *s) { if (s == NULL) { return -1; // 参数错误 @@ -186,15 +186,11 @@ int8_t Chassis_UpdateFeedback(shoot_t *s) return 0; } -int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd) +int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) { if (s == NULL || cmd == NULL) { return -1; // 参数错误 } - s->now = BSP_TIME_Get_us() / 1000000.0f; - s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f; - s->lask_wakeup = BSP_TIME_Get_us(); - s->online = cmd->online; if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){ for(int i=0;iparam->trig_motor_param); } else{ + static float pos; switch(s->running_state) { + case SHOOT_STATE_IDLE:/*熄火等待*/ for(int i=0;ioutput.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); } - s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt); + + s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt); s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); @@ -241,7 +240,7 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd) MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); } /* 拨弹电机输出 */ - s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt); + s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt); s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); @@ -255,10 +254,8 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd) } else if(last_firecmd==false&&cmd->firecmd==true) { - Shoot_ResetCalu(s); - Shoot_ResetOutput(s); s->running_state=SHOOT_STATE_FIRE; - s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num; + s->anglecalu.num_to_shoot+=s->param->shot_burst_num; } break; @@ -279,9 +276,8 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd) MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); if(!cmd->firecmd) { - Shoot_ResetCalu(s); - Shoot_ResetOutput(s); s->running_state=SHOOT_STATE_READY; + pos=s->feedback.trig_angle_cicle; } break; default: @@ -290,11 +286,76 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd) } } MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]); + MOTOR_RM_Ctrl(&s->param->fric_motor_param[4]); last_firecmd = cmd->firecmd; return 0; } +int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL) { + return -1; // 参数错误 + } + + switch (s->jamdetection.jamfsm_state) { + case SHOOT_JAMFSM_STATE_NORMAL: + if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) { + s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED; + s->jamdetection.jam_last_time = s->now; // 记录怀疑开始时间 + } + Shoot_RunningFSM(s, cmd); // 正常运行状态下继续执行射击状态机 + break; + + case SHOOT_JAMFSM_STATE_SUSPECTED: + if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) { + s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; + break; + } else { + if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) { + s->jamdetection.jam_detected =true; + s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED; + break; + } + } + Shoot_RunningFSM(s, cmd); + break; + + case SHOOT_JAMFSM_STATE_CONFIRMED: + // 进入处理状态，修改拨弹盘目标角度 + s->target_variable.target_angle = s->feedback.trig_angle_cicle-0.5f*s->param->trig_step_angle; + s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL; + s->jamdetection.jam_last_time = s->now; // 记录处理开始时间 + case SHOOT_JAMFSM_STATE_DEAL: + Shoot_RunningFSM(s, cmd); + if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->output.outlpf_trig < 0.1f) { /* 给予0.3秒响应时间并检测输出，认为堵塞已解除 */ + s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; + } + break; + + default: + s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; + break; + } + + return 0; +} + +int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL || cmd == NULL) { + return -1; // 参数错误 + } + s->now = BSP_TIME_Get_us() / 1000000.0f; + s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f; + s->lask_wakeup = BSP_TIME_Get_us(); + s->online = cmd->online;//改成检测电机是否在线 + //电机在线检测函数 + Shoot_JamDetectionFSM(s, cmd); + return 0; +} + + diff --git a/User/module/shoot_control.h b/User/module/shoot_control.h index 8dc5f5e..1be3114 100644 --- a/User/module/shoot_control.h +++ b/User/module/shoot_control.h @@ -21,17 +21,22 @@ extern "C" { #define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */ #define SHOOT_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */ -#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */ +#define SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */ #define MAX_FRIC_RPM 7000.0f #define MAX_TRIG_RPM 5000.0f /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ - +typedef enum { + SHOOT_JAMFSM_STATE_NORMAL = 0, // 常规状态 + SHOOT_JAMFSM_STATE_SUSPECTED, // 怀疑状态 + SHOOT_JAMFSM_STATE_CONFIRMED, // 确认状态 + SHOOT_JAMFSM_STATE_DEAL // 处理状态 +} Shoot_JamDetectionFSM_State_t; typedef enum { SHOOT_STATE_IDLE = 0, // 熄火 SHOOT_STATE_READY, // 准备射击 SHOOT_STATE_FIRE // 射击 -} Shoot_State_t; +} Shoot_Running_State_t; typedef enum { SHOOT_MODE_SAFE = 0, // 安全模式 @@ -67,6 +72,11 @@ typedef struct{ uint8_t num_shooted; }Shoot_AngleCalu_t; +typedef struct { + bool jam_detected; /* 卡弹检测结果 */ + float jam_last_time;/* 用于记录怀疑状态或处理状态的开始时间 */ + Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态机 */ +}Shoot_JamDetection_t; typedef struct { float out_follow[SHOOT_FRIC_NUM]; float out_err[SHOOT_FRIC_NUM]; @@ -86,6 +96,9 @@ typedef struct { float shot_delay_time; /* 射击间隔时间，单位秒 */ uint8_t shot_burst_num; /* 多发模式下一次射击的发数 */ + float jam_threshold; /* 卡弹检测阈值，单位A */ + float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */ + MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM]; MOTOR_RM_Param_t trig_motor_param; @@ -119,14 +132,15 @@ typedef struct { uint64_t lask_wakeup; float dt; - Shoot_Params_t *param; /* */ + Shoot_Params_t *param; /* 发射参数 */ /* 模块通用 */ - Shoot_State_t running_state; /* 运行状态机 */ + Shoot_Running_State_t running_state; /* 运行状态机 */ Shoot_Mode_t mode; /* 反馈信息 */ Shoot_Feedback_t feedback; /* 控制信息*/ - Shoot_AngleCalu_t shoot_Anglecalu; + Shoot_JamDetection_t jamdetection; + Shoot_AngleCalu_t anglecalu; Shoot_Output_t output; /* 目标控制量 */ struct { @@ -156,7 +170,7 @@ typedef struct { float errtosee; /*调试用*/ -} shoot_t; +} Shoot_t; /* Exported functions prototypes -------------------------------------------- */ @@ -169,7 +183,7 @@ typedef struct { * * \return 函数运行结果 */ -int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq); +int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq); /** * \brief 更新反馈 @@ -178,7 +192,7 @@ int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq); * * \return 函数运行结果 */ -int8_t Chassis_UpdateFeedback(shoot_t *s); +int8_t Chassis_UpdateFeedback(Shoot_t *s); /** * \brief 初始化发射 @@ -188,7 +202,7 @@ int8_t Chassis_UpdateFeedback(shoot_t *s); * * \return 函数运行结果 */ -int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd); +int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd); diff --git a/User/task/shoot_ctrl.c b/User/task/shoot_ctrl.c index 89c759e..ea6467d 100644 --- a/User/task/shoot_ctrl.c +++ b/User/task/shoot_ctrl.c @@ -17,7 +17,7 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; -shoot_t shoot; +Shoot_t shoot; Shoot_CMD_t shoot_cmd; /* USER STRUCT BEGIN */