From 4ddf18b79a8ddd6ba6d9d701f0317ebaec3218b9 Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Fri, 17 Oct 2025 16:20:23 +0800 Subject: [PATCH] 111 --- MDK-ARM/gimbal.uvguix.yunha | 44 ++-- MDK-ARM/gimbal.uvoptx | 16 -- MDK-ARM/gimbal/gimbal.axf | Bin 2034604 -> 2034604 bytes MDK-ARM/gimbal/gimbal.crf | Bin 934814 -> 934814 bytes MDK-ARM/gimbal/gimbal.hex | 24 +-- MDK-ARM/gimbal/gimbal.htm | 352 +++++++++++++++---------------- MDK-ARM/gimbal/gimbal.o | Bin 1015224 -> 1015224 bytes MDK-ARM/gimbal/gimbal_gimbal.dep | 2 +- User/module/gimbal.c | 3 +- 9 files changed, 222 insertions(+), 219 deletions(-) diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 5e3a571..d54f165 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -110,8 +110,8 @@ 0 - 613 - 0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000600000002000000010000002C443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6273705C63616E2E63000000000563616E2E6300000000C5D4F200FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6D6F64756C655C67696D62616C2E63000000000867696D62616C2E6300000000FFDC7800FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6D6F64756C655C67696D62616C2E68000000000867696D62616C2E6800000000BECEA100FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6D6F64756C655C636F6E6669672E630000000008636F6E6669672E6300000000F0A0A100FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C636F6D706F6E656E745C636D642E630000000005636D642E6300000000BCA8E100FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C636F6D706F6E656E745C636D642E680000000005636D642E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F700000066000000A00500006C020000 + 773 + 0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000800000001000000010000002C443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6273705C63616E2E63000000000563616E2E6300000000C5D4F200FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6D6F64756C655C67696D62616C2E63000000000867696D62616C2E6300000000FFDC7800FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6D6F64756C655C67696D62616C2E68000000000867696D62616C2E6800000000BECEA100FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C6D6F64756C655C636F6E6669672E630000000008636F6E6669672E6300000000F0A0A100FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C636F6D706F6E656E745C636D642E630000000005636D642E6300000000BCA8E100FFFFFFFF32443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C636F6D706F6E656E745C636D642E680000000005636D642E68000000009CC1B600FFFFFFFF38443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C636F6D706F6E656E745C757365725F6D6174682E63000000000B757365725F6D6174682E6300000000F7B88600FFFFFFFF33443A5C79756E68615CD4C6CCA85CB4F3BDAEB5E7BBFA5C67696D62616C5C557365725C636F6D706F6E656E745C616872732E630000000006616872732E6300000000D9ADC200FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F700000066000000A00500006C020000 @@ -1806,7 +1806,7 @@ File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uild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ebug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ser\bsp\can.c 0 @@ -3615,18 +3615,18 @@ ..\User\module\gimbal.c - 7 - 263 - 246 + 23 + 256 + 267 1 0 ../User/module/gimbal.h - 16 - 25 - 28 + 24 + 1 + 12 1 0 @@ -3634,7 +3634,7 @@ ..\User\module\config.c 3 - 127 + 50 51 1 @@ -3658,6 +3658,24 @@ 0 + + ..\User\component\user_math.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\component\ahrs.c + 0 + 398 + 413 + 1 + + 0 + diff --git a/MDK-ARM/gimbal.uvoptx b/MDK-ARM/gimbal.uvoptx index 74a04aa..801169a 100644 --- a/MDK-ARM/gimbal.uvoptx +++ b/MDK-ARM/gimbal.uvoptx @@ -159,22 +159,6 @@ 0 38 1 -
0
- 0 - 0 - 0 - 0 - 0 - 0 - ..\User\module\gimbal.c - - - - - 1 - 0 - 38 - 1
134229624
0 0 diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index 0b1ade19d9a2650d4c6da022d09ab82ef154bcef..6892c240a7d31228410f2662a89d9a89ef27ac40 100644 GIT binary patch delta 415 zcmYk!K}*759LMqJ*)t!P)3VI0O=UsWVNME?A|kxzp;r*G1wjd7&@pcvMqLUX;ekk6 zgb*RIQ-eBm?NTqHlh7eIduy@d8q4S@(G0W~wyr;6oqg+7 z)eTD54PS`#f|Ank@B44$)~_jUu+3`u6&3y?{chNIp&zl={3({%nlV^;{9kz(Ua4?Z zW^cw|Wu&)Gkhjvc*yGdibWzr>#_=ici!WTkQ(>4j;u&BcG7L^I=34Gt8i}5Z-=#U^p(bakX ziXU4vMUaE}rAcRO$D$w%BrpadKn76|1LI%<#K9z(0tqk;lAynl0<&NaC_n{ikntQV Vn{0~3)q`a||C9Oj?B8rI`UkR_q}u=h delta 434 zcmYk!&q@MO6bA5nXU6NFF|AB3M`acn!Kl$9jcDQ8peKl!ffgl%iDvLF-35 zRmN_m)pUdqcB<(-Om^tbsi*qxiB->UDt))|Jj?IB`~Z2?de5JurCgY{{QG+Hz7%}b ztU+Pg@-}Pfd3gZ&-i2H=8&Vu|?XC?pj^`9Y3Zl diff --git a/MDK-ARM/gimbal/gimbal.crf b/MDK-ARM/gimbal/gimbal.crf index e4484311502877786e88de1fd3feec4347f1688f..0a59a694d1fedd50d6f4979962a2191e68e96d33 100644 GIT binary patch delta 2403 zcmb7FYiv|S6rM9Xl;r}`YP981-~vC|_y?r4v<0?P)PRs^LX46Sd;~E{kcbhZ6|<$K zU0RB^fVrAbTJVPv{n7oQEBHWBsK_f&Ey%)rkTIZqF1=$7J z3waT^fxV5Aaxh3!B?*unb|g%gdP&Q?#nsL;6Mi9j+h&MLCG*^+))5<(%y-StMAK8p ztDSYyX_WZ9CJg6Ni)x)6GQXR@w}*#b9{PBwVWk8Q^*l6SSn8=d$BwVXy;~%`Z?)Jo zVswscHiOtIDVZ3kbAZvnnAAYs*jL|mcJtXi7{+?>0-f!&@VXU4)N3iw+om7ERo~h% zqOFYx-an3IAC^fhC%fhnmhIj{vvsYPRj8-TxoQi8EwUCw^U9E%B)W0xQACkU8JWEZ*nLL-I5-(Q^X}0TjQFe*zE%vu+s#MCdfUK%Dk>(eZM>GNoLqBpLkE;CfnXC2Jwoar5L>C z|J?o^9K~jWH=MKasJM8YG0P+UN z8jyv`Jf`3i^#aI0LDqsSQsxPTSgU7|#5X~12KkgiZm9dfR3?e)z&we*lPA?-P#Zzj zgIcYS9x4T<3d|NTPb)Y}?emV!)id(&B7Okh_q-h^s*~IyxO@4wS&@&g^`_0!v*PKl z$Q{wg!*;UR45Qm%biL%NO}DmN#hMF+Iw)+1!Yh6?qhE5*3_2wpghD+Oc0l1}zv9sV zxe12l-C*a5El_xaukbqN>70eb9x?RJRW_fs{a!KbCg11~!)@N(^L1{#QL1dX`88az z6IT=~vsR&uRF=&ZuY+s`IY%+S#@~WIZ%1sgXvB64wz*8X5V=&j7`a@zAj6Uk3p1#s zudESGINFM%G4I%XJu&Ye3Uz^vvNrb$$I~%AcSJM#>nQJmm`8?+WD%0gMj#|V+ z2oE815;z6GQ5neb4{$v68OtDew`3={^j{m{?XhbgoVAKaK34FH_(gXigJre!*!+-_-!b;XBC^4b^Z{CKyY z1vDS+?IV~yfC%^cNkOwf?F01%s2b!3ZtMrOKcMRUl%b2DJ_dCVTI>>hZVtN3C!oFr zg)d(OjZd*Wge8X=v3mp>pMg3|GhL3~O1$U*)<}-9m-|gTNI!1ov9n4DDW?4eis-N* delta 2402 zcmb7FX>3(R6rMA03grURr%_7Tyakgs{t@j$TcDldf?(ngqlsW}NnFqn3=xQ;Qi}5sXPKC5CasD1B?Pj1G&JMbSlp)UQu|M>gb3o z5PM^>DRmT^>YGDg4AW)^&C2w}IpuKCQ~a-ANCxD)KN$sLw^kY z0QytFFxKiM<)e{iog_eh<3>Y;NlIE|7uI`EO!|)K4L3^EDOu#-?L4tg$ztDpOLTqu zt9oyR^jai-uN6&S`i@3#t1Ldj|J%>a05^l&G_X)3H%V@q(JZzq>A8XpICqnzcbpat zIb-vE(*)uLN$)ldB|Ts)FfKim9KZH0uaoy~Lz8C{C3=F_&hrj5p6w{nTW0LRQHR_( z(bYu+>+i$#drVW9PV>!aO!wG(N_Ast*4k{9EMQf(EL(#y>`Fv8Hr?Qx)zUm8%^GQ* zw?|5KA)U4}%k=!*cBya?HQpx5^tHJim~~2}(`{v1(WD+|I!koY<%xsPvd}kQgSkYM zvEAi*TAbIJfef=N?LfKC6vLzj#_n-b#YyaX08S)RLuNZXwjFC60r1*hdw7YG|JuR;MV%tk$LmsIG9@lfn9c0+}pQS}An`hiA7 zLkr|v(059@*Ig%mgtBG6`4X#xKr>caA<>F{o21+9@d~}bA8{o!;*>r1&Px4I^@yK0 z?axkZ}$q{$G?vZpHb)PGHw5kcSY;^G2ybL?|2 zA^tDAS}_Fu30O#)c{0kazhzaJBbTR$$wjJhhAg!&R_RIq^)|k{Rs4cmT%L*HZT`>c z{V)`(3GdM761n0c{$xG*``y*zR}AaPHzms4ukg330pu{q29Tx7EK%^WS_|?wkQ+dj zDf6I$P1Guomq0dxELY}X1z)S>2;$#CZUp(5LTsqp!PKRQl3*S|*(s7L18N};W=-4NIWfvpgDHc0C*discS0bDDA@a;kDNa=LOtMkyO5W|&Dm z&WM+=wG&&b?Y_Bsa?w8|>H?R`(p)RXT3xMY=d=ao^{#52R&CN>ogP!8Yh?nth>H*| zLS{eE1N0J&LyW(N?HK-v(0P#)@v`x&mPH?Wu7r^v!~S@vCUk3HUmkP11dm|?1OAJC zfU6*b$NaKIuNx|3Jk&D?8bvYykIw*Sfyif3ANelohafXdR1>N}tq$Fqhz9&-UJ1@i z23J2uBfw7@@H$+<)?o_eBLEj>Ml%4T2jFqmo7q0=Q7*Sg0bjhIBAc0~ixVe;D8TjN zVh7ajf`R0)NW9Hgu)EtOvjCOfkSXawLB=|VfY2_!x1Hf6x06z_-3!B diff --git a/MDK-ARM/gimbal/gimbal.hex b/MDK-ARM/gimbal/gimbal.hex index 1eb9d46..b730498 100644 --- a/MDK-ARM/gimbal/gimbal.hex +++ b/MDK-ARM/gimbal/gimbal.hex @@ -685,9 +685,9 @@ :102AB0000CF09FF800EE100ADFEDCD0A80EE201A30 :102AC00084ED021AFFF7FBFDC4E9000129782046D6 :102AD00000F05CFA95ED010AD4ED020A20EE208A9E -:102AE00095ED020AD4ED020A60EE20BA95ED010AD6 +:102AE00095ED020AD4ED020A20EE20BA95ED010A16 :102AF000D4ED020A60EE208A95ED020AD4ED020AB6 -:102B000020EE209A207C20B101280DD002280AD185 +:102B000060EE20BA207C20B101280DD002280AD125 :102B1000C3E09FEDB80A84ED9F0A9FEDB60A04F565 :102B20001F7084EDA00A60E194ED050A30EE280ADA :102B300084ED050AE06890ED480AB5EEC00AF1EEB2 @@ -698,20 +698,20 @@ :102B8000680A04F11400FFF755FE94ED050ADFED25 :102B90009B0AB4EEE00AF1EE10FA07DD94ED050AA7 :102BA000DFED950A30EE600A84ED050A94ED060A21 -:102BB00030EE090A84ED060AE06890ED490AB5EEA8 +:102BB00030EE2B0A84ED060AE06890ED490AB5EE86 :102BC000C00AF1EE10FA19DD94ED060AD4ED890A77 :102BD000B4EEE00AF1EE10FA03DD94ED890A84ED1B :102BE000060A94ED060AD4ED8A0AB4EEE00AF1EE84 :102BF00010FA03D294ED8A0A84ED060A94ED021AC3 :102C0000F0EE411A94EDA41AF0EE410A94ED051A83 :102C1000B0EE410A9FED771A04F12C0005F03CFF5D -:102C2000F0EE409A94ED020AF0EE401A94EDA30AF9 -:102C3000F0EE400A9FED6F1AB0EE690A04F16800E9 +:102C2000B0EE409A94ED020AF0EE401A94EDA30A39 +:102C3000F0EE400A9FED6F1AB0EE490A04F1680009 :102C400005F02AFF84ED9F0A94ED021AF0EE411A76 :102C500094EDA51AF0EE410A94ED061AB0EE410A81 -:102C60009FED641A04F1A40005F016FFB0EE40AA2F +:102C60009FED641A04F1A40005F016FFF0EE409AFF :102C700094ED020AF0EE401A94EDA10AF0EE400A3B -:102C80009FED5C1AB0EE4A0A04F1E00005F004FF83 +:102C80009FED5C1AB0EE690A04F1E00005F004FF64 :102C900004F51F7084EDA00AA7E094ED080A30EE59 :102CA000080A84ED080AE06890ED480AB5EEC00A0B :102CB000F1EE10FA1ADD94ED080AD4ED8B0AB4EEA9 @@ -719,20 +719,20 @@ :102CD00094ED080AD4ED8C0AB4EEE00AF1EE10FA95 :102CE0000CD294ED8C0A84ED080A07E0DFED420A6D :102CF000B0EE480A04F12000FFF79CFD94ED090AAC -:102D000030EE090A84ED090AE06890ED490AB5EE53 +:102D000030EE0B0A84ED090AE06890ED490AB5EE51 :102D1000C00AF1EE10FA19DD94ED090AD4ED8D0A1E :102D2000B4EEE00AF1EE10FA03DD94ED8D0A84EDC5 :102D3000090A94ED090AD4ED8E0AB4EEE00AF1EE28 :102D400010FA03D294ED8E0A84ED090A94ED021A6A :102D5000F0EE411A94EDA71AF0EE410A94ED081A2C :102D6000B0EE410A9FED231A04F5AC7005F094FE15 -:102D7000F0EE40AA94ED020AF0EE401A94EDA80A93 -:102D8000F0EE400A9FED1B1AB0EE6A0A04F58E7051 +:102D7000B0EE40AA94ED020AF0EE401A94EDA80AD3 +:102D8000F0EE400A9FED1B1AB0EE4A0A04F58E7071 :102D900005F082FE84ED9F0A94ED021AF0EE411ACE :102DA00094EDAB1AF0EE410A94ED091AB0EE410A27 -:102DB0009FED101A04F5E87005F06EFEB0EE40BA13 +:102DB0009FED101A04F5E87005F06EFEF0EE40AAE3 :102DC00094ED020AF0EE401A94EDAC0AF0EE400ADF -:102DD0009FED081AB0EE4B0A04F5CA7005F05CFED0 +:102DD0009FED081AB0EE6A0A04F5CA7005F05CFEB1 :102DE00004F51F7084EDA00A00BF00BF00BF53E6CA :102DF0000024744900000000DB0FC940DB0F49408C :102E000070B52DED028B04460D46B0EE408A24B914 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index 28fa9b0..39341b3 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Oct 17 15:56:01 2025 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Oct 17 16:19:40 2025

Maximum Stack Usage = 344 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -521,11 +521,11 @@ Global Symbols

_ll_udiv (Thumb, 238 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]

  • >>   BSP_CAN_Transmit +

    [Called By]
    • >>   prvCopyDataToQueue +
    • >>   prvCopyDataFromQueue +
    • >>   BSP_CAN_Transmit
    • >>   BSP_CAN_RxFifo1Callback
    • >>   BSP_CAN_RxFifo0Callback -
    • >>   prvCopyDataToQueue -
    • >>   prvCopyDataFromQueue

    __rt_memcpy (Thumb, 138 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text), UNUSED) @@ -924,9 +924,9 @@ Global Symbols

    BSP_SPI_Receive (Thumb, 84 bytes, Stack size 24 bytes, spi_1.o(i.BSP_SPI_Receive))

    [Stack]

    • Max Depth = 168
    • Call Chain = BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
    -
    [Calls]
    • >>   BSP_SPI_GetHandle -
    • >>   HAL_SPI_Receive_DMA +
      [Calls]
      • >>   HAL_SPI_Receive_DMA
      • >>   HAL_SPI_Receive +
      • >>   BSP_SPI_GetHandle

      [Called By]
      • >>   BMI_ReadSingle
      • >>   BMI_Read @@ -939,9 +939,9 @@ Global Symbols

        BSP_SPI_Transmit (Thumb, 84 bytes, Stack size 24 bytes, spi_1.o(i.BSP_SPI_Transmit))

        [Stack]

        • Max Depth = 120
        • Call Chain = BSP_SPI_Transmit ⇒ HAL_SPI_Transmit ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
        -
        [Calls]
        • >>   BSP_SPI_GetHandle -
        • >>   HAL_SPI_Transmit_DMA +
          [Calls]
          • >>   HAL_SPI_Transmit_DMA
          • >>   HAL_SPI_Transmit +
          • >>   BSP_SPI_GetHandle

          [Called By]
          • >>   BMI_WriteSingle
          • >>   BMI_ReadSingle @@ -972,8 +972,8 @@ Global Symbols

            BSP_TIME_Get_us (Thumb, 144 bytes, Stack size 24 bytes, time.o(i.BSP_TIME_Get_us))

            [Stack]

            • Max Depth = 24
            • Call Chain = BSP_TIME_Get_us
            -
            [Calls]
            • >>   osKernelGetTickFreq -
            • >>   xTaskGetTickCount +
              [Calls]
              • >>   xTaskGetTickCount +
              • >>   osKernelGetTickFreq

              [Called By]
              • >>   Gimbal_Control
              @@ -1462,8 +1462,6 @@ Global Symbols
            • >>   HAL_CAN_Start
            • >>   HAL_Delay
            • >>   HAL_DMA_Abort -
            • >>   BSP_CAN_RxFifo1Callback -
            • >>   BSP_CAN_RxFifo0Callback
            • >>   HAL_SPI_TransmitReceive
            • >>   HAL_SPI_Transmit
            • >>   HAL_SPI_Receive @@ -1471,6 +1469,8 @@ Global Symbols
            • >>   SPI_DMATransmitReceiveCplt
            • >>   SPI_DMATransmitCplt
            • >>   SPI_DMAReceiveCplt +
            • >>   BSP_CAN_RxFifo1Callback +
            • >>   BSP_CAN_RxFifo0Callback

            HAL_I2C_AbortCpltCallback (Thumb, 46 bytes, Stack size 16 bytes, i2c_1.o(i.HAL_I2C_AbortCpltCallback)) @@ -1996,12 +1996,12 @@ Global Symbols


          [Calls]
          • >>   HAL_DMA_Abort_IT
          • >>   HAL_DMA_Abort -
          • >>   HAL_UART_ErrorCallback
          • >>   HAL_UARTEx_RxEventCallback
          • >>   UART_Transmit_IT
          • >>   UART_Receive_IT
          • >>   UART_EndTransmit_IT
          • >>   UART_EndRxTransfer +
          • >>   HAL_UART_ErrorCallback

          [Called By]
          • >>   USART3_IRQHandler
          @@ -2711,8 +2711,8 @@ Global Symbols

          osDelay (Thumb, 30 bytes, Stack size 16 bytes, cmsis_os2.o(i.osDelay))

          [Stack]

          • Max Depth = 72
          • Call Chain = osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
          -
          [Calls]
          • >>   __get_IPSR -
          • >>   vTaskDelay +
            [Calls]
            • >>   vTaskDelay +
            • >>   __get_IPSR

            [Called By]
            • >>   BSP_TIME_Delay_ms
            • >>   Task_remote @@ -2723,9 +2723,9 @@ Global Symbols

              osDelayUntil (Thumb, 52 bytes, Stack size 24 bytes, cmsis_os2.o(i.osDelayUntil))

              [Stack]

              • Max Depth = 96
              • Call Chain = osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
              -
              [Calls]
              • >>   __get_IPSR -
              • >>   xTaskGetTickCount +
                [Calls]
                • >>   xTaskGetTickCount
                • >>   vTaskDelayUntil +
                • >>   __get_IPSR

                [Called By]
                • >>   Task_remote
                • >>   Task_gimbal_ctrl @@ -2741,9 +2741,9 @@ Global Symbols

                  osKernelGetTickCount (Thumb, 26 bytes, Stack size 8 bytes, cmsis_os2.o(i.osKernelGetTickCount))

                  [Stack]

                  • Max Depth = 40
                  • Call Chain = osKernelGetTickCount ⇒ xTaskGetTickCountFromISR ⇒ vPortValidateInterruptPriority
                  -
                  [Calls]
                  • >>   __get_IPSR -
                  • >>   xTaskGetTickCountFromISR +
                    [Calls]
                    • >>   xTaskGetTickCountFromISR
                    • >>   xTaskGetTickCount +
                    • >>   __get_IPSR

                    [Called By]
                    • >>   Task_remote
                    • >>   Task_gimbal_ctrl @@ -2770,8 +2770,8 @@ Global Symbols

                      [Stack]
                      • Max Depth = 8
                      • Call Chain = osKernelLock

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

                      [Called By]
                      • >>   Task_Init
                      • >>   Task_atti_esti @@ -2781,8 +2781,8 @@ Global Symbols

                        [Stack]
                        • Max Depth = 176 + Unknown Stack Size
                        • Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                        -
                        [Calls]
                        • >>   __get_IPSR -
                        • >>   vTaskStartScheduler +
                          [Calls]
                          • >>   vTaskStartScheduler +
                          • >>   __get_IPSR

                          [Called By]
                          • >>   main
                          @@ -2791,8 +2791,8 @@ Global Symbols

                          [Stack]
                          • Max Depth = 48
                          • Call Chain = osKernelUnlock ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

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

                          [Called By]
                          • >>   Task_Init
                          • >>   Task_atti_esti @@ -2801,9 +2801,9 @@ Global Symbols

                            osMessageQueueGet (Thumb, 124 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMessageQueueGet))

                            [Stack]

                            • Max Depth = 128
                            • Call Chain = osMessageQueueGet ⇒ xQueueReceive ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                            -
                            [Calls]
                            • >>   __get_IPSR -
                            • >>   xQueueReceiveFromISR +
                              [Calls]
                              • >>   xQueueReceiveFromISR
                              • >>   xQueueReceive +
                              • >>   __get_IPSR

                              [Called By]
                              • >>   BSP_CAN_GetMessage
                              • >>   Task_gimbal_ctrl @@ -2812,10 +2812,10 @@ Global Symbols

                                osMessageQueueNew (Thumb, 154 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMessageQueueNew))

                                [Stack]

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

                                  [Called By]
                                  • >>   Task_Init
                                  • >>   BSP_CAN_CreateIdQueue @@ -2824,9 +2824,9 @@ Global Symbols

                                    osMessageQueuePut (Thumb, 128 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMessageQueuePut))

                                    [Stack]

                                    • Max Depth = 136
                                    • Call Chain = osMessageQueuePut ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                    -
                                    [Calls]
                                    • >>   __get_IPSR -
                                    • >>   xQueueGenericSendFromISR +
                                      [Calls]
                                      • >>   xQueueGenericSendFromISR
                                      • >>   xQueueGenericSend +
                                      • >>   __get_IPSR

                                      [Called By]
                                      • >>   BSP_CAN_RxFifo1Callback
                                      • >>   BSP_CAN_RxFifo0Callback @@ -2837,8 +2837,8 @@ Global Symbols

                                        osMessageQueueReset (Thumb, 40 bytes, Stack size 16 bytes, cmsis_os2.o(i.osMessageQueueReset))

                                        [Stack]

                                        • Max Depth = 48
                                        • Call Chain = osMessageQueueReset ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
                                        -
                                        [Calls]
                                        • >>   __get_IPSR -
                                        • >>   xQueueGenericReset +
                                          [Calls]
                                          • >>   xQueueGenericReset +
                                          • >>   __get_IPSR

                                          [Called By]
                                          • >>   Task_remote
                                          • >>   Task_atti_esti @@ -2847,9 +2847,9 @@ Global Symbols

                                            osMutexAcquire (Thumb, 98 bytes, Stack size 24 bytes, cmsis_os2.o(i.osMutexAcquire))

                                            [Stack]

                                            • Max Depth = 136
                                            • Call Chain = osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                            -
                                            [Calls]
                                            • >>   __get_IPSR -
                                            • >>   xQueueTakeMutexRecursive +
                                              [Calls]
                                              • >>   xQueueTakeMutexRecursive
                                              • >>   xQueueSemaphoreTake +
                                              • >>   __get_IPSR

                                              [Called By]
                                              • >>   BSP_CAN_GetMessage
                                              • >>   BSP_CAN_CreateIdQueue @@ -2858,10 +2858,10 @@ Global Symbols

                                                osMutexNew (Thumb, 178 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMutexNew))

                                                [Stack]

                                                • Max Depth = 176
                                                • Call Chain = osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                -
                                                [Calls]
                                                • >>   __get_IPSR -
                                                • >>   xQueueCreateMutexStatic +
                                                  [Calls]
                                                  • >>   xQueueCreateMutexStatic
                                                  • >>   xQueueCreateMutex
                                                  • >>   vQueueAddToRegistry +
                                                  • >>   __get_IPSR

                                                  [Called By]
                                                  • >>   BSP_CAN_Init
                                                  @@ -2869,9 +2869,9 @@ Global Symbols

                                                  osMutexRelease (Thumb, 78 bytes, Stack size 24 bytes, cmsis_os2.o(i.osMutexRelease))

                                                  [Stack]

                                                  • Max Depth = 144
                                                  • Call Chain = osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                  -
                                                  [Calls]
                                                  • >>   __get_IPSR -
                                                  • >>   xQueueGiveMutexRecursive +
                                                    [Calls]
                                                    • >>   xQueueGiveMutexRecursive
                                                    • >>   xQueueGenericSend +
                                                    • >>   __get_IPSR

                                                    [Called By]
                                                    • >>   BSP_CAN_GetMessage
                                                    • >>   BSP_CAN_CreateIdQueue @@ -2880,9 +2880,9 @@ Global Symbols

                                                      osThreadFlagsSet (Thumb, 122 bytes, Stack size 32 bytes, cmsis_os2.o(i.osThreadFlagsSet))

                                                      [Stack]

                                                      • Max Depth = 88
                                                      • Call Chain = osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
                                                      -
                                                      [Calls]
                                                      • >>   __get_IPSR -
                                                      • >>   xTaskGenericNotifyFromISR +
                                                        [Calls]
                                                        • >>   xTaskGenericNotifyFromISR
                                                        • >>   xTaskGenericNotify +
                                                        • >>   __get_IPSR

                                                        [Called By]
                                                        • >>   BMI088_RxCpltCallback
                                                        • >>   BMI088_GyroIntCallback @@ -2892,9 +2892,9 @@ Global Symbols

                                                          osThreadFlagsWait (Thumb, 178 bytes, Stack size 48 bytes, cmsis_os2.o(i.osThreadFlagsWait))

                                                          [Stack]

                                                          • Max Depth = 104
                                                          • Call Chain = osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                          -
                                                          [Calls]
                                                          • >>   __get_IPSR -
                                                          • >>   xTaskGetTickCount +
                                                            [Calls]
                                                            • >>   xTaskGetTickCount
                                                            • >>   xTaskNotifyWait +
                                                            • >>   __get_IPSR

                                                            [Called By]
                                                            • >>   BMI088_WaitNew
                                                            • >>   BMI088_GyroWaitDmaCplt @@ -2915,9 +2915,9 @@ Global Symbols

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

                                                                [Called By]
                                                                • >>   Task_Init
                                                                • >>   MX_FREERTOS_Init @@ -2926,9 +2926,9 @@ Global Symbols

                                                                  osThreadTerminate (Thumb, 60 bytes, Stack size 24 bytes, cmsis_os2.o(i.osThreadTerminate))

                                                                  [Stack]

                                                                  • Max Depth = 104
                                                                  • Call Chain = osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                  -
                                                                  [Calls]
                                                                  • >>   __get_IPSR -
                                                                  • >>   vTaskDelete +
                                                                    [Calls]
                                                                    • >>   vTaskDelete
                                                                    • >>   eTaskGetState +
                                                                    • >>   __get_IPSR

                                                                    [Called By]
                                                                    • >>   Task_Init
                                                                    • >>   StartDefaultTask @@ -2937,14 +2937,14 @@ Global Symbols

                                                                      pvPortMalloc (Thumb, 306 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))

                                                                      [Stack]

                                                                      • Max Depth = 64
                                                                      • Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                      -
                                                                      [Calls]
                                                                      • >>   prvInsertBlockIntoFreeList -
                                                                      • >>   prvHeapInit -
                                                                      • >>   xTaskResumeAll +
                                                                        [Calls]
                                                                        • >>   xTaskResumeAll
                                                                        • >>   vTaskSuspendAll +
                                                                        • >>   prvInsertBlockIntoFreeList +
                                                                        • >>   prvHeapInit
                                                                        -
                                                                        [Called By]
                                                                        • >>   BSP_Malloc -
                                                                        • >>   xTaskCreate +
                                                                          [Called By]
                                                                          • >>   xTaskCreate
                                                                          • >>   xQueueGenericCreate +
                                                                          • >>   BSP_Malloc

                                                                          pvTaskIncrementMutexHeldCount (Thumb, 26 bytes, Stack size 0 bytes, tasks.o(i.pvTaskIncrementMutexHeldCount)) @@ -2994,8 +2994,7 @@ Global Symbols

                                                                        uxListRemove (Thumb, 40 bytes, Stack size 0 bytes, list.o(i.uxListRemove)) -

                                                                        [Called By]

                                                                        • >>   xTaskResumeAll -
                                                                        • >>   prvSwitchTimerLists +

                                                                          [Called By]
                                                                          • >>   prvSwitchTimerLists
                                                                          • >>   prvProcessReceivedCommands
                                                                          • >>   prvProcessExpiredTimer
                                                                          • >>   xTaskIncrementTick @@ -3008,6 +3007,7 @@ Global Symbols
                                                                          • >>   xTaskPriorityInherit
                                                                          • >>   xTaskPriorityDisinherit
                                                                          • >>   vTaskPriorityDisinheritAfterTimeout +
                                                                          • >>   xTaskResumeAll

                                                                          vApplicationGetIdleTaskMemory (Thumb, 14 bytes, Stack size 0 bytes, cmsis_os2.o(i.vApplicationGetIdleTaskMemory)) @@ -3042,8 +3042,7 @@ Global Symbols

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

                                                                        [Called By]

                                                                        • >>   xTaskResumeAll -
                                                                        • >>   xTaskIncrementTick +

                                                                          [Called By]
                                                                          • >>   xTaskIncrementTick
                                                                          • >>   vTaskDelete
                                                                          • >>   prvAddNewTaskToReadyList
                                                                          • >>   prvAddCurrentTaskToDelayedList @@ -3054,11 +3053,11 @@ Global Symbols
                                                                          • >>   xTaskPriorityDisinherit
                                                                          • >>   vTaskPriorityDisinheritAfterTimeout
                                                                          • >>   vTaskPlaceOnEventListRestricted +
                                                                          • >>   xTaskResumeAll

                                                                          vPortEnterCritical (Thumb, 76 bytes, Stack size 0 bytes, port.o(i.vPortEnterCritical)) -

                                                                          [Called By]

                                                                          • >>   xTaskResumeAll -
                                                                          • >>   prvCheckForValidListAndQueue +

                                                                            [Called By]
                                                                            • >>   prvCheckForValidListAndQueue
                                                                            • >>   vTaskDelete
                                                                            • >>   eTaskGetState
                                                                            • >>   prvCheckTasksWaitingTermination @@ -3074,11 +3073,11 @@ Global Symbols
                                                                            • >>   prvUnlockQueue
                                                                            • >>   prvIsQueueFull
                                                                            • >>   prvIsQueueEmpty +
                                                                            • >>   xTaskResumeAll

                                                                            vPortExitCritical (Thumb, 56 bytes, Stack size 0 bytes, port.o(i.vPortExitCritical)) -

                                                                            [Called By]

                                                                            • >>   xTaskResumeAll -
                                                                            • >>   prvCheckForValidListAndQueue +

                                                                              [Called By]
                                                                              • >>   prvCheckForValidListAndQueue
                                                                              • >>   vTaskDelete
                                                                              • >>   eTaskGetState
                                                                              • >>   prvCheckTasksWaitingTermination @@ -3094,19 +3093,20 @@ Global Symbols
                                                                              • >>   prvUnlockQueue
                                                                              • >>   prvIsQueueFull
                                                                              • >>   prvIsQueueEmpty +
                                                                              • >>   xTaskResumeAll

                                                                              vPortFree (Thumb, 150 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))

                                                                              [Stack]

                                                                              • Max Depth = 56
                                                                              • Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                              -
                                                                              [Calls]
                                                                              • >>   prvInsertBlockIntoFreeList -
                                                                              • >>   xTaskResumeAll +
                                                                                [Calls]
                                                                                • >>   xTaskResumeAll
                                                                                • >>   vTaskSuspendAll +
                                                                                • >>   prvInsertBlockIntoFreeList
                                                                                -
                                                                                [Called By]
                                                                                • >>   BSP_Free -
                                                                                • >>   prvProcessReceivedCommands +
                                                                                  [Called By]
                                                                                  • >>   prvProcessReceivedCommands
                                                                                  • >>   xTaskCreate
                                                                                  • >>   prvDeleteTCB +
                                                                                  • >>   BSP_Free

                                                                                  vPortSetupTimerInterrupt (Thumb, 36 bytes, Stack size 0 bytes, port.o(i.vPortSetupTimerInterrupt)) @@ -3125,18 +3125,18 @@ Global Symbols

                                                                                vQueueAddToRegistry (Thumb, 38 bytes, Stack size 0 bytes, queue.o(i.vQueueAddToRegistry)) -

                                                                                [Called By]

                                                                                • >>   osMutexNew +

                                                                                  [Called By]
                                                                                  • >>   prvCheckForValidListAndQueue +
                                                                                  • >>   osMutexNew
                                                                                  • >>   osMessageQueueNew -
                                                                                  • >>   prvCheckForValidListAndQueue

                                                                                  vQueueWaitForMessageRestricted (Thumb, 74 bytes, Stack size 24 bytes, queue.o(i.vQueueWaitForMessageRestricted))

                                                                                  [Stack]

                                                                                  • Max Depth = 72
                                                                                  • Call Chain = vQueueWaitForMessageRestricted ⇒ vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   vPortExitCritical -
                                                                                  • >>   vPortEnterCritical -
                                                                                  • >>   vTaskPlaceOnEventListRestricted +
                                                                                    [Calls]
                                                                                    • >>   vTaskPlaceOnEventListRestricted
                                                                                    • >>   prvUnlockQueue +
                                                                                    • >>   vPortExitCritical +
                                                                                    • >>   vPortEnterCritical

                                                                                    [Called By]
                                                                                    • >>   prvProcessTimerOrBlockTask
                                                                                    @@ -3144,9 +3144,9 @@ Global Symbols

                                                                                    vTaskDelay (Thumb, 82 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelay))

                                                                                    [Stack]

                                                                                    • Max Depth = 56
                                                                                    • Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                    -
                                                                                    [Calls]
                                                                                    • >>   xTaskResumeAll +
                                                                                      [Calls]
                                                                                      • >>   prvAddCurrentTaskToDelayedList +
                                                                                      • >>   xTaskResumeAll
                                                                                      • >>   vTaskSuspendAll -
                                                                                      • >>   prvAddCurrentTaskToDelayedList

                                                                                      [Called By]
                                                                                      • >>   osDelay
                                                                                      @@ -3154,9 +3154,9 @@ Global Symbols

                                                                                      vTaskDelayUntil (Thumb, 200 bytes, Stack size 32 bytes, tasks.o(i.vTaskDelayUntil))

                                                                                      [Stack]

                                                                                      • Max Depth = 72
                                                                                      • Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   xTaskResumeAll +
                                                                                        [Calls]
                                                                                        • >>   prvAddCurrentTaskToDelayedList +
                                                                                        • >>   xTaskResumeAll
                                                                                        • >>   vTaskSuspendAll -
                                                                                        • >>   prvAddCurrentTaskToDelayedList

                                                                                        [Called By]
                                                                                        • >>   osDelayUntil
                                                                                        @@ -3164,12 +3164,12 @@ Global Symbols

                                                                                        vTaskDelete (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelete))

                                                                                        [Stack]

                                                                                        • Max Depth = 80
                                                                                        • Call Chain = vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                        -
                                                                                        [Calls]
                                                                                        • >>   vListInsertEnd +
                                                                                          [Calls]
                                                                                          • >>   prvResetNextTaskUnblockTime +
                                                                                          • >>   prvDeleteTCB +
                                                                                          • >>   vListInsertEnd
                                                                                          • >>   uxListRemove
                                                                                          • >>   vPortExitCritical
                                                                                          • >>   vPortEnterCritical -
                                                                                          • >>   prvResetNextTaskUnblockTime -
                                                                                          • >>   prvDeleteTCB

                                                                                          [Called By]
                                                                                          • >>   osThreadTerminate
                                                                                          @@ -3188,8 +3188,8 @@ Global Symbols

                                                                                          vTaskPlaceOnEventList (Thumb, 52 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventList))

                                                                                          [Stack]

                                                                                          • Max Depth = 48
                                                                                          • Call Chain = vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   vListInsert -
                                                                                          • >>   prvAddCurrentTaskToDelayedList +
                                                                                            [Calls]
                                                                                            • >>   prvAddCurrentTaskToDelayedList +
                                                                                            • >>   vListInsert

                                                                                            [Called By]
                                                                                            • >>   xQueueSemaphoreTake
                                                                                            • >>   xQueueReceive @@ -3199,8 +3199,8 @@ Global Symbols

                                                                                              vTaskPlaceOnEventListRestricted (Thumb, 60 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventListRestricted))

                                                                                              [Stack]

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

                                                                                                [Called By]
                                                                                                • >>   vQueueWaitForMessageRestricted
                                                                                                @@ -3228,15 +3228,15 @@ Global Symbols

                                                                                              vTaskSuspendAll (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(i.vTaskSuspendAll)) -

                                                                                              [Called By]

                                                                                              • >>   osKernelLock -
                                                                                              • >>   vPortFree -
                                                                                              • >>   pvPortMalloc -
                                                                                              • >>   prvProcessTimerOrBlockTask +

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

                                                                                                vTaskSwitchContext (Thumb, 230 bytes, Stack size 16 bytes, tasks.o(i.vTaskSwitchContext)) @@ -3287,11 +3287,11 @@ Global Symbols

                                                                                                xQueueGenericCreate (Thumb, 90 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreate))

                                                                                                [Stack]

                                                                                                • Max Depth = 96
                                                                                                • Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                -
                                                                                                [Calls]
                                                                                                • >>   pvPortMalloc -
                                                                                                • >>   prvInitialiseNewQueue +
                                                                                                  [Calls]
                                                                                                  • >>   prvInitialiseNewQueue +
                                                                                                  • >>   pvPortMalloc
                                                                                                  -
                                                                                                  [Called By]
                                                                                                  • >>   osMessageQueueNew -
                                                                                                  • >>   xQueueCreateMutex +
                                                                                                    [Called By]
                                                                                                    • >>   xQueueCreateMutex +
                                                                                                    • >>   osMessageQueueNew

                                                                                                    xQueueGenericCreateStatic (Thumb, 224 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreateStatic)) @@ -3299,55 +3299,55 @@ Global Symbols


                                                                                                  [Calls]
                                                                                                  • >>   prvInitialiseNewQueue
                                                                                                  -
                                                                                                  [Called By]
                                                                                                  • >>   osMessageQueueNew -
                                                                                                  • >>   prvCheckForValidListAndQueue +
                                                                                                    [Called By]
                                                                                                    • >>   prvCheckForValidListAndQueue
                                                                                                    • >>   xQueueCreateMutexStatic +
                                                                                                    • >>   osMessageQueueNew

                                                                                                    xQueueGenericReset (Thumb, 146 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericReset))

                                                                                                    [Stack]

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

                                                                                                        xQueueGenericSend (Thumb, 420 bytes, Stack size 56 bytes, queue.o(i.xQueueGenericSend))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 104
                                                                                                        • Call Chain = xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert

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

                                                                                                          xQueueGenericSendFromISR (Thumb, 252 bytes, Stack size 40 bytes, queue.o(i.xQueueGenericSendFromISR))

                                                                                                          [Stack]

                                                                                                          • Max Depth = 80
                                                                                                          • Call Chain = xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
                                                                                                          -
                                                                                                          [Calls]
                                                                                                          • >>   prvCopyDataToQueue -
                                                                                                          • >>   xTaskRemoveFromEventList +
                                                                                                            [Calls]
                                                                                                            • >>   xTaskRemoveFromEventList
                                                                                                            • >>   vPortValidateInterruptPriority +
                                                                                                            • >>   prvCopyDataToQueue
                                                                                                            -
                                                                                                            [Called By]
                                                                                                            • >>   osMessageQueuePut -
                                                                                                            • >>   xTimerGenericCommand +
                                                                                                              [Called By]
                                                                                                              • >>   xTimerGenericCommand +
                                                                                                              • >>   osMessageQueuePut

                                                                                                              xQueueGiveMutexRecursive (Thumb, 72 bytes, Stack size 16 bytes, queue.o(i.xQueueGiveMutexRecursive)) @@ -3363,28 +3363,28 @@ Global Symbols

                                                                                                              [Stack]

                                                                                                              • Max Depth = 96
                                                                                                              • Call Chain = xQueueReceive ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert

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

                                                                                                                xQueueReceiveFromISR (Thumb, 202 bytes, Stack size 40 bytes, queue.o(i.xQueueReceiveFromISR)) -

                                                                                                                [Stack]

                                                                                                                • Max Depth = 56
                                                                                                                • Call Chain = xQueueReceiveFromISR ⇒ prvCopyDataFromQueue +

                                                                                                                  [Stack]
                                                                                                                  • Max Depth = 56
                                                                                                                  • Call Chain = xQueueReceiveFromISR ⇒ xTaskRemoveFromEventList
                                                                                                                  -
                                                                                                                  [Calls]
                                                                                                                  • >>   prvCopyDataFromQueue -
                                                                                                                  • >>   xTaskRemoveFromEventList +
                                                                                                                    [Calls]
                                                                                                                    • >>   xTaskRemoveFromEventList
                                                                                                                    • >>   vPortValidateInterruptPriority +
                                                                                                                    • >>   prvCopyDataFromQueue

                                                                                                                    [Called By]
                                                                                                                    • >>   osMessageQueueGet
                                                                                                                    @@ -3393,10 +3393,6 @@ Global Symbols

                                                                                                                    [Stack]
                                                                                                                    • Max Depth = 88
                                                                                                                    • Call Chain = xQueueSemaphoreTake ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert

                                                                                                                    [Calls]
                                                                                                                    • >>   xTaskGetSchedulerState -
                                                                                                                    • >>   xTaskResumeAll -
                                                                                                                    • >>   vTaskSuspendAll -
                                                                                                                    • >>   vPortExitCritical -
                                                                                                                    • >>   vPortEnterCritical
                                                                                                                    • >>   xTaskRemoveFromEventList
                                                                                                                    • >>   xTaskPriorityInherit
                                                                                                                    • >>   xTaskCheckForTimeOut @@ -3407,9 +3403,13 @@ Global Symbols
                                                                                                                    • >>   prvUnlockQueue
                                                                                                                    • >>   prvIsQueueEmpty
                                                                                                                    • >>   prvGetDisinheritPriorityAfterTimeout +
                                                                                                                    • >>   xTaskResumeAll +
                                                                                                                    • >>   vTaskSuspendAll +
                                                                                                                    • >>   vPortExitCritical +
                                                                                                                    • >>   vPortEnterCritical
                                                                                                                    -
                                                                                                                    [Called By]
                                                                                                                    • >>   osMutexAcquire -
                                                                                                                    • >>   xQueueTakeMutexRecursive +
                                                                                                                      [Called By]
                                                                                                                      • >>   xQueueTakeMutexRecursive +
                                                                                                                      • >>   osMutexAcquire

                                                                                                                      xQueueTakeMutexRecursive (Thumb, 78 bytes, Stack size 24 bytes, queue.o(i.xQueueTakeMutexRecursive)) @@ -3424,9 +3424,9 @@ Global Symbols

                                                                                                                      xTaskCheckForTimeOut (Thumb, 132 bytes, Stack size 16 bytes, tasks.o(i.xTaskCheckForTimeOut))

                                                                                                                      [Stack]

                                                                                                                      • Max Depth = 16
                                                                                                                      • Call Chain = xTaskCheckForTimeOut
                                                                                                                      -
                                                                                                                      [Calls]
                                                                                                                      • >>   vPortExitCritical +
                                                                                                                        [Calls]
                                                                                                                        • >>   vTaskInternalSetTimeOutState +
                                                                                                                        • >>   vPortExitCritical
                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                        • >>   vTaskInternalSetTimeOutState

                                                                                                                        [Called By]
                                                                                                                        • >>   xQueueSemaphoreTake
                                                                                                                        • >>   xQueueReceive @@ -3437,10 +3437,10 @@ Global Symbols

                                                                                                                          [Stack]
                                                                                                                          • Max Depth = 136 + Unknown Stack Size
                                                                                                                          • Call Chain = xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                          -
                                                                                                                          [Calls]
                                                                                                                          • >>   vPortFree -
                                                                                                                          • >>   pvPortMalloc -
                                                                                                                          • >>   prvInitialiseNewTask +
                                                                                                                            [Calls]
                                                                                                                            • >>   prvInitialiseNewTask
                                                                                                                            • >>   prvAddNewTaskToReadyList +
                                                                                                                            • >>   vPortFree +
                                                                                                                            • >>   pvPortMalloc

                                                                                                                            [Called By]
                                                                                                                            • >>   osThreadNew
                                                                                                                            @@ -3471,9 +3471,9 @@ Global Symbols

                                                                                                                            xTaskGenericNotifyFromISR (Thumb, 332 bytes, Stack size 40 bytes, tasks.o(i.xTaskGenericNotifyFromISR))

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 56
                                                                                                                            • Call Chain = xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   vListInsertEnd +
                                                                                                                              [Calls]
                                                                                                                              • >>   vPortValidateInterruptPriority +
                                                                                                                              • >>   vListInsertEnd
                                                                                                                              • >>   uxListRemove -
                                                                                                                              • >>   vPortValidateInterruptPriority

                                                                                                                              [Called By]
                                                                                                                              • >>   osThreadFlagsSet
                                                                                                                              @@ -3486,21 +3486,21 @@ Global Symbols

                                                                                                                              xTaskGetSchedulerState (Thumb, 24 bytes, Stack size 0 bytes, tasks.o(i.xTaskGetSchedulerState))

                                                                                                                              [Called By]

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

                                                                                                                              xTaskGetTickCount (Thumb, 6 bytes, Stack size 0 bytes, tasks.o(i.xTaskGetTickCount)) -

                                                                                                                              [Called By]

                                                                                                                              • >>   BSP_TIME_Get_us +

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

                                                                                                                                xTaskGetTickCountFromISR (Thumb, 16 bytes, Stack size 16 bytes, tasks.o(i.xTaskGetTickCountFromISR)) @@ -3514,9 +3514,9 @@ Global Symbols

                                                                                                                                xTaskIncrementTick (Thumb, 280 bytes, Stack size 24 bytes, tasks.o(i.xTaskIncrementTick))

                                                                                                                                [Stack]

                                                                                                                                • Max Depth = 24
                                                                                                                                • Call Chain = xTaskIncrementTick
                                                                                                                                -
                                                                                                                                [Calls]
                                                                                                                                • >>   vListInsertEnd +
                                                                                                                                  [Calls]
                                                                                                                                  • >>   prvResetNextTaskUnblockTime +
                                                                                                                                  • >>   vListInsertEnd
                                                                                                                                  • >>   uxListRemove -
                                                                                                                                  • >>   prvResetNextTaskUnblockTime

                                                                                                                                  [Called By]
                                                                                                                                  • >>   xPortSysTickHandler
                                                                                                                                  • >>   xTaskResumeAll @@ -3525,9 +3525,9 @@ Global Symbols

                                                                                                                                    xTaskNotifyWait (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(i.xTaskNotifyWait))

                                                                                                                                    [Stack]

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

                                                                                                                                      [Called By]
                                                                                                                                      • >>   osThreadFlagsWait
                                                                                                                                      @@ -3568,22 +3568,22 @@ Global Symbols

                                                                                                                                      xTaskResumeAll (Thumb, 222 bytes, Stack size 16 bytes, tasks.o(i.xTaskResumeAll))

                                                                                                                                      [Stack]

                                                                                                                                      • Max Depth = 40
                                                                                                                                      • Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                      -
                                                                                                                                      [Calls]
                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                        [Calls]
                                                                                                                                        • >>   xTaskIncrementTick +
                                                                                                                                        • >>   prvResetNextTaskUnblockTime +
                                                                                                                                        • >>   vListInsertEnd
                                                                                                                                        • >>   uxListRemove
                                                                                                                                        • >>   vPortExitCritical
                                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                                        • >>   xTaskIncrementTick -
                                                                                                                                        • >>   prvResetNextTaskUnblockTime
                                                                                                                                        -
                                                                                                                                        [Called By]
                                                                                                                                        • >>   osKernelUnlock -
                                                                                                                                        • >>   vPortFree -
                                                                                                                                        • >>   pvPortMalloc -
                                                                                                                                        • >>   prvProcessTimerOrBlockTask +
                                                                                                                                          [Called By]
                                                                                                                                          • >>   prvProcessTimerOrBlockTask
                                                                                                                                          • >>   vTaskDelayUntil
                                                                                                                                          • >>   vTaskDelay
                                                                                                                                          • >>   xQueueSemaphoreTake
                                                                                                                                          • >>   xQueueReceive
                                                                                                                                          • >>   xQueueGenericSend +
                                                                                                                                          • >>   vPortFree +
                                                                                                                                          • >>   pvPortMalloc +
                                                                                                                                          • >>   osKernelUnlock

                                                                                                                                          xTimerCreateTimerTask (Thumb, 100 bytes, Stack size 32 bytes, timers.o(i.xTimerCreateTimerTask)) @@ -3904,10 +3904,10 @@ Local Symbols

                                                                                                                                          I2C_MasterReceive_RXNE (Thumb, 260 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_RXNE))

                                                                                                                                          [Stack]

                                                                                                                                          • Max Depth = 32
                                                                                                                                          • Call Chain = I2C_MasterReceive_RXNE ⇒ HAL_I2C_MemRxCpltCallback
                                                                                                                                          -
                                                                                                                                          [Calls]
                                                                                                                                          • >>   HAL_I2C_MemRxCpltCallback +
                                                                                                                                            [Calls]
                                                                                                                                            • >>   I2C_WaitOnSTOPRequestThroughIT +
                                                                                                                                            • >>   HAL_I2C_MemRxCpltCallback
                                                                                                                                            • >>   HAL_I2C_MasterRxCpltCallback
                                                                                                                                            • >>   HAL_I2C_ErrorCallback -
                                                                                                                                            • >>   I2C_WaitOnSTOPRequestThroughIT

                                                                                                                                            [Called By]
                                                                                                                                            • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                            @@ -3924,9 +3924,9 @@ Local Symbols

                                                                                                                                            I2C_MasterTransmit_TXE (Thumb, 216 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_TXE))

                                                                                                                                            [Stack]

                                                                                                                                            • Max Depth = 56
                                                                                                                                            • Call Chain = I2C_MasterTransmit_TXE ⇒ I2C_MemoryTransmit_TXE_BTF ⇒ HAL_I2C_MemTxCpltCallback
                                                                                                                                            -
                                                                                                                                            [Calls]
                                                                                                                                            • >>   HAL_I2C_MemTxCpltCallback +
                                                                                                                                              [Calls]
                                                                                                                                              • >>   I2C_MemoryTransmit_TXE_BTF +
                                                                                                                                              • >>   HAL_I2C_MemTxCpltCallback
                                                                                                                                              • >>   HAL_I2C_MasterTxCpltCallback -
                                                                                                                                              • >>   I2C_MemoryTransmit_TXE_BTF

                                                                                                                                              [Called By]
                                                                                                                                              • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                              @@ -4050,9 +4050,9 @@ Local Symbols

                                                                                                                                              [Stack]
                                                                                                                                              • Max Depth = 80
                                                                                                                                              • Call Chain = SPI_DMAReceiveCplt ⇒ SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

                                                                                                                                              [Calls]
                                                                                                                                              • >>   HAL_GetTick +
                                                                                                                                              • >>   SPI_EndRxTransaction
                                                                                                                                              • >>   HAL_SPI_RxCpltCallback
                                                                                                                                              • >>   HAL_SPI_ErrorCallback -
                                                                                                                                              • >>   SPI_EndRxTransaction

                                                                                                                                              [Address Reference Count : 2]
                                                                                                                                              • stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA)
                                                                                                                                              • stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA) @@ -4061,9 +4061,9 @@ Local Symbols

                                                                                                                                                [Stack]
                                                                                                                                                • Max Depth = 88
                                                                                                                                                • Call Chain = SPI_DMATransmitCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

                                                                                                                                                [Calls]
                                                                                                                                                • >>   HAL_GetTick +
                                                                                                                                                • >>   SPI_EndRxTxTransaction
                                                                                                                                                • >>   HAL_SPI_TxCpltCallback
                                                                                                                                                • >>   HAL_SPI_ErrorCallback -
                                                                                                                                                • >>   SPI_EndRxTxTransaction

                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                • stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
                                                                                                                                                @@ -4071,9 +4071,9 @@ Local Symbols

                                                                                                                                                [Stack]
                                                                                                                                                • Max Depth = 80
                                                                                                                                                • Call Chain = SPI_DMATransmitReceiveCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

                                                                                                                                                [Calls]
                                                                                                                                                • >>   HAL_GetTick +
                                                                                                                                                • >>   SPI_EndRxTxTransaction
                                                                                                                                                • >>   HAL_SPI_TxRxCpltCallback
                                                                                                                                                • >>   HAL_SPI_ErrorCallback -
                                                                                                                                                • >>   SPI_EndRxTxTransaction

                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                • stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
                                                                                                                                                @@ -4146,8 +4146,8 @@ Local Symbols

                                                                                                                                                UART_Receive_IT (Thumb, 252 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(i.UART_Receive_IT))

                                                                                                                                                [Stack]

                                                                                                                                                • Max Depth = 40
                                                                                                                                                • Call Chain = UART_Receive_IT ⇒ HAL_UART_RxCpltCallback
                                                                                                                                                -
                                                                                                                                                [Calls]
                                                                                                                                                • >>   HAL_UART_RxCpltCallback -
                                                                                                                                                • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                  • >>   HAL_UART_RxCpltCallback

                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   HAL_UART_IRQHandler
                                                                                                                                                  @@ -4229,10 +4229,10 @@ Local Symbols

                                                                                                                                                  prvUnlockQueue (Thumb, 126 bytes, Stack size 16 bytes, queue.o(i.prvUnlockQueue))

                                                                                                                                                  [Stack]

                                                                                                                                                  • Max Depth = 32
                                                                                                                                                  • Call Chain = prvUnlockQueue ⇒ xTaskRemoveFromEventList
                                                                                                                                                  -
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                                  • >>   vPortEnterCritical -
                                                                                                                                                  • >>   xTaskRemoveFromEventList +
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   xTaskRemoveFromEventList
                                                                                                                                                    • >>   vTaskMissedYield +
                                                                                                                                                    • >>   vPortExitCritical +
                                                                                                                                                    • >>   vPortEnterCritical

                                                                                                                                                    [Called By]
                                                                                                                                                    • >>   xQueueSemaphoreTake
                                                                                                                                                    • >>   xQueueReceive @@ -4257,10 +4257,10 @@ Local Symbols

                                                                                                                                                      prvAddNewTaskToReadyList (Thumb, 154 bytes, Stack size 8 bytes, tasks.o(i.prvAddNewTaskToReadyList))

                                                                                                                                                      [Stack]

                                                                                                                                                      • Max Depth = 16
                                                                                                                                                      • Call Chain = prvAddNewTaskToReadyList ⇒ prvInitialiseTaskLists
                                                                                                                                                      -
                                                                                                                                                      [Calls]
                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   prvInitialiseTaskLists +
                                                                                                                                                        • >>   vListInsertEnd
                                                                                                                                                        • >>   vPortExitCritical
                                                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                                                        • >>   prvInitialiseTaskLists

                                                                                                                                                        [Called By]
                                                                                                                                                        • >>   xTaskCreateStatic
                                                                                                                                                        • >>   xTaskCreate @@ -4269,10 +4269,10 @@ Local Symbols

                                                                                                                                                          prvCheckTasksWaitingTermination (Thumb, 60 bytes, Stack size 8 bytes, tasks.o(i.prvCheckTasksWaitingTermination))

                                                                                                                                                          [Stack]

                                                                                                                                                          • Max Depth = 72
                                                                                                                                                          • Call Chain = prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                          -
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   uxListRemove +
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   prvDeleteTCB +
                                                                                                                                                            • >>   uxListRemove
                                                                                                                                                            • >>   vPortExitCritical
                                                                                                                                                            • >>   vPortEnterCritical -
                                                                                                                                                            • >>   prvDeleteTCB

                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   prvIdleTask
                                                                                                                                                            @@ -4297,8 +4297,8 @@ Local Symbols

                                                                                                                                                            [Stack]
                                                                                                                                                            • Max Depth = 40 + Unknown Stack Size
                                                                                                                                                            • Call Chain = prvInitialiseNewTask
                                                                                                                                                            -
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   vListInitialiseItem -
                                                                                                                                                            • >>   pxPortInitialiseStack +
                                                                                                                                                              [Calls]
                                                                                                                                                              • >>   pxPortInitialiseStack +
                                                                                                                                                              • >>   vListInitialiseItem
                                                                                                                                                              • >>   __aeabi_memset

                                                                                                                                                              [Called By]
                                                                                                                                                              • >>   xTaskCreateStatic @@ -4314,19 +4314,19 @@ Local Symbols

                                                                                                                                                              prvResetNextTaskUnblockTime (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(i.prvResetNextTaskUnblockTime)) -

                                                                                                                                                              [Called By]

                                                                                                                                                              • >>   xTaskResumeAll -
                                                                                                                                                              • >>   xTaskIncrementTick +

                                                                                                                                                                [Called By]
                                                                                                                                                                • >>   xTaskIncrementTick
                                                                                                                                                                • >>   vTaskDelete +
                                                                                                                                                                • >>   xTaskResumeAll

                                                                                                                                                                prvCheckForValidListAndQueue (Thumb, 78 bytes, Stack size 8 bytes, timers.o(i.prvCheckForValidListAndQueue))

                                                                                                                                                                [Stack]

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

                                                                                                                                                                  [Called By]
                                                                                                                                                                  • >>   xTimerCreateTimerTask
                                                                                                                                                                  @@ -4347,9 +4347,9 @@ Local Symbols

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

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 176
                                                                                                                                                                  • Call Chain = prvProcessExpiredTimer ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   uxListRemove -
                                                                                                                                                                  • >>   xTimerGenericCommand +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   xTimerGenericCommand
                                                                                                                                                                    • >>   prvInsertTimerInActiveList +
                                                                                                                                                                    • >>   uxListRemove

                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   prvProcessTimerOrBlockTask
                                                                                                                                                                    @@ -4357,12 +4357,12 @@ Local Symbols

                                                                                                                                                                    prvProcessReceivedCommands (Thumb, 350 bytes, Stack size 48 bytes, timers.o(i.prvProcessReceivedCommands))

                                                                                                                                                                    [Stack]

                                                                                                                                                                    • Max Depth = 248
                                                                                                                                                                    • Call Chain = prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                    -
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   uxListRemove -
                                                                                                                                                                    • >>   vPortFree -
                                                                                                                                                                    • >>   xTimerGenericCommand +
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   xTimerGenericCommand
                                                                                                                                                                      • >>   prvSampleTimeNow
                                                                                                                                                                      • >>   prvInsertTimerInActiveList
                                                                                                                                                                      • >>   xQueueReceive +
                                                                                                                                                                      • >>   uxListRemove +
                                                                                                                                                                      • >>   vPortFree

                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   prvTimerTask
                                                                                                                                                                      @@ -4370,11 +4370,11 @@ Local Symbols

                                                                                                                                                                      prvProcessTimerOrBlockTask (Thumb, 102 bytes, Stack size 24 bytes, timers.o(i.prvProcessTimerOrBlockTask))

                                                                                                                                                                      [Stack]

                                                                                                                                                                      • Max Depth = 224
                                                                                                                                                                      • Call Chain = prvProcessTimerOrBlockTask ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                      -
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   xTaskResumeAll -
                                                                                                                                                                      • >>   vTaskSuspendAll -
                                                                                                                                                                      • >>   prvSampleTimeNow +
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   prvSampleTimeNow
                                                                                                                                                                        • >>   prvProcessExpiredTimer
                                                                                                                                                                        • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                        • >>   xTaskResumeAll +
                                                                                                                                                                        • >>   vTaskSuspendAll

                                                                                                                                                                        [Called By]
                                                                                                                                                                        • >>   prvTimerTask
                                                                                                                                                                        @@ -4392,9 +4392,9 @@ Local Symbols

                                                                                                                                                                        prvSwitchTimerLists (Thumb, 154 bytes, Stack size 32 bytes, timers.o(i.prvSwitchTimerLists))

                                                                                                                                                                        [Stack]

                                                                                                                                                                        • Max Depth = 184
                                                                                                                                                                        • Call Chain = prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
                                                                                                                                                                        -
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   vListInsert +
                                                                                                                                                                          [Calls]
                                                                                                                                                                          • >>   xTimerGenericCommand +
                                                                                                                                                                          • >>   vListInsert
                                                                                                                                                                          • >>   uxListRemove -
                                                                                                                                                                          • >>   xTimerGenericCommand

                                                                                                                                                                          [Called By]
                                                                                                                                                                          • >>   prvSampleTimeNow
                                                                                                                                                                          diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index 7317f76973a992658c194a78221354fe0b808b90..b3e0e2b92772129e6c9fc7bd9d4b5334698309e6 100644 GIT binary patch delta 345 zcmdn-+jhrq+X*XV6y7Q9n);TJ>&jauu7r0AT~mQHl)Y=>k#&sPlZzR188=LR$SBF^ zIr%rEApSi!2v4a{PUS(~RbdkHbl z-TX*YiJ9Xb1Dh}_GxO5PJd&!6x|@w8O&J;IY|fCXVPfrOnya8N`K65h_E%`#GF9P1;pGy%mc){ i+o#I$HTJNZnxq=&8Z%6HwC1y%yq-;9d)jKgpi2OAp=ZGW delta 330 zcmdn-+jhrq+X*XV65c87n);TJ>&jauE+D&WDv$=T72YY#ns{U#Bj@B|#$3h^lOHll zGG($p%bfj9!!7nW}*b4l{ui7&1#TW=-~H1}oS#xq(@X(R=fBW-lSe zIh!AeDlv21WndF#WoBMBnMYEUQD?J}q$wlg?9CZcHB79XOmh_&Ccl)?XH=LhDQlz251OWQHWkdh~ diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index 2ff2cb7..418fa06 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -2469,7 +2469,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB) I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB) I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB) -F (..\User\module\gimbal.c)(0x68F1F68E)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I.\RTE\_gimbal -ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d) +F (..\User\module\gimbal.c)(0x68F1FC19)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I.\RTE\_gimbal -ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d) I (..\User\module\gimbal.h)(0x68F1F21B) I (../User/component/ahrs.h)(0x68E90EBF) I (../User/component/user_math.h)(0x68E90EBF) diff --git a/User/module/gimbal.c b/User/module/gimbal.c index cb79a62..df3a2f6 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -196,6 +196,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { float delta_yaw = g_cmd->delta_yaw*g->dt; float delta_pit = g_cmd->delta_pit*g->dt; + switch (g->mode) { case GIMBAL_MODE_RELAX:/*放松模式*/ g->out.yaw = 0.0f; @@ -249,7 +250,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { } /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */ - g->setpoint.ecd.pit+=delta_pit; + g->setpoint.ecd.pit+=delta_ecd_pit; if (g->param->travel.pit > 0) { /* 限制控制命令 */