From dbf0aee3159e89b1ef93c597b485dd83ee016fef Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Sat, 3 Jan 2026 12:59:09 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=91=E5=B0=84=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/gimbal.uvguix.yunha | 225 +- MDK-ARM/gimbal.uvoptx | 2 +- MDK-ARM/gimbal/ai.o | Bin 8000 -> 8000 bytes MDK-ARM/gimbal/config.o | Bin 9172 -> 7836 bytes MDK-ARM/gimbal/gimbal.axf | Bin 641656 -> 641312 bytes MDK-ARM/gimbal/gimbal.build_log.htm | 5 +- MDK-ARM/gimbal/gimbal.htm | 1988 ++++++------ MDK-ARM/gimbal/gimbal.map | 4345 +++++++++++++-------------- MDK-ARM/gimbal/gimbal_gimbal.dep | 32 +- MDK-ARM/gimbal/init.o | Bin 3084 -> 3084 bytes MDK-ARM/gimbal/remote.o | Bin 5040 -> 5044 bytes MDK-ARM/gimbal/remote_cmd.o | Bin 4772 -> 4676 bytes MDK-ARM/gimbal/shoot.d | 8 +- MDK-ARM/gimbal/shoot.o | Bin 24764 -> 25264 bytes MDK-ARM/gimbal/shoot_ctrl.d | 2 +- MDK-ARM/gimbal/shoot_ctrl.o | Bin 10124 -> 10400 bytes User/device/ai.c | 2 +- User/module/config.c | 253 +- User/module/remote_cmd.c | 33 +- User/module/shoot.c | 398 +-- User/module/shoot.h | 209 +- User/task/shoot_ctrl.c | 4 +- 22 files changed, 3726 insertions(+), 3780 deletions(-) diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 5211076..c870ec4 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -15,17 +15,17 @@ 38003 Registers - 115 55 + 115 100 346 Code Coverage - 710 160 + 710 100 204 Performance Analyzer - 870 + 362 130 130 100 @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 1808 - 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898 @@ -3603,97 +3603,7 @@ 0 100 - 0 - - ..\User\module\remote_cmd.c - 27 - 1 - 18 - 1 - - 0 - - - ..\User\module\remote_cmd.h - 15 - 9 - 17 - 1 - - 0 - - - ..\User\module\shoot.h - 11 - 47 - 55 - 1 - - 0 - - - ..\User\task\shoot_ctrl.c - 0 - 43 - 52 - 1 - - 0 - - - ..\User\task\gimbal_ctrl.c - 15 - 16 - 24 - 1 - - 0 - - - ..\User\task\remote.c - 36 - 41 - 49 - 1 - - 0 - - - ..\User\task\user_task.c - 14 - 1 - 3 - 1 - - 0 - - - ..\User\task\init.c - 67 - 36 - 51 - 1 - - 0 - - - ..\User\task\user_task.h - 16 - 55 - 63 - 1 - - 0 - - - ..\User\device\remote_control.h - 9 - 96 - 97 - 1 - - 0 - + 4 startup_stm32f407xx.s 0 @@ -3714,25 +3624,43 @@ ..\User\task\ai.c - 15 - 34 + 25 + 24 47 1 0 + + ..\User\module\remote_cmd.c + 36 + 38 + 58 + 1 + + 0 + + + ..\User\module\config.c + 23 + 172 + 187 + 1 + + 0 + ..\User\module\shoot.c - 1 - 28 - 29 + 32 + 168 + 179 1 0 ..\User\module\gimbal.c - 62 + 72 422 423 1 @@ -3740,43 +3668,25 @@ 0 - ..\User\module\config.c - 30 - 244 - 252 + ..\User\module\shoot.h + 23 + 38 + 43 1 0 - ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c - 11 - 1783 - 1791 + ..\User\module\config.h + 18 + 5 + 22 1 0 - ..\User\bsp\can.c - 0 - 281 - 287 - 1 - - 0 - - - ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c - 0 - 3659 - 3665 - 1 - - 0 - - - ..\User\device\motor_dm.c + ..\User\component\ahrs.c 0 1 1 @@ -3784,6 +3694,33 @@ 0 + + ..\User\task\shoot_ctrl.c + 28 + 30 + 38 + 1 + + 0 + + + ..\User\module\remote_cmd.h + 8 + 1 + 18 + 1 + + 0 + + + ..\User\device\ai.c + 20 + 52 + 57 + 1 + + 0 + diff --git a/MDK-ARM/gimbal.uvoptx b/MDK-ARM/gimbal.uvoptx index 7378866..8e4b911 100644 --- a/MDK-ARM/gimbal.uvoptx +++ b/MDK-ARM/gimbal.uvoptx @@ -120,7 +120,7 @@ 0 CMSIS_AGDI - -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 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z{~eWwY67~#Yb||0W&g4yK||nJk$H5(@h583$DyXUkQ{e#^%-2fzDE!0p(8EIIeX4&3-m5R4NseDq_IpS85AfCc z0)pr_DVsVLdj~-y%itqra|#Z?GxUuH3E((5hee51%e(+TT|ZB=Y{gF?btpYw>P)u*Lh~sTO|&ujI{U&b=@sq{FNyP#IORSMfS1C40O&`; zE8)SS_eyyaVOhfh^m!rdl@8vHuNYU#dludYi~pDio(3D4ZjAo52QClDmZ2dnRhhcj?n zi_2#7f`P?}@Gv+{1H1}eXmL|`ADpcEmatbYVHgK0MOm-^1@({3@J$3HHSACtxdrJOn+IcftoO-VLW->LvA7 z{h!6&;{EU;*qp*caB_u^zl6tGd=h>Qju{W95wI?1aR5KVSr*52^St@6De|)LyKq}g zP$C@V?e`?*Bsdv1bs_~$g-xAkEL@5A|BXQ#1Z%2#Nz(bqDY+4T7v@Uvxhs4C=A!Vq zCwvB$xni;J2hT|iBODITxA-1-A)KrJV{qFkXs zd`5Cm&vC=}?4kK=Vt)Fw@l6tLyes^yU&pbd#%~z=Z2a6yH&k97zu=M$FT4@|LxhZO zcxrQet@zSBH<_2e`JMQz$ejGLJL9in*I;LSopN%~7og0YmEQ}o*xi;tnWMO?{*u3J zXMFv#H+GEk{(M*d9<0k&-B{YI^FaQO9G7XCc9B;*zvjE~SC#2=GU^S^@4#WBO%>w3 zr2{Software Packages used: @@ -59,7 +56,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index c428a65..a8981df 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, 6160001: Last Updated: Sat Jan 3 01:32:20 2026 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Jan 3 12:19:08 2026

Maximum Stack Usage = 436 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -469,11 +469,11 @@ Global Symbols

[Called By]
  • >>   __user_setup_stackheap
-

__aeabi_uldivmod (Thumb, 0 bytes, Stack size 48 bytes, lludivv7m.o(.text)) +

__aeabi_uldivmod (Thumb, 0 bytes, Stack size 48 bytes, lludivv7m.o(.text))

[Stack]

  • Max Depth = 48
  • Call Chain = __aeabi_uldivmod
-
[Called By]
  • >>   HAL_RCC_GetSysClockFreq -
  • >>   UART_SetConfig +
    [Called By]
    • >>   HAL_RCC_GetSysClockFreq +
    • >>   UART_SetConfig

    _ll_udiv (Thumb, 240 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED) @@ -496,10 +496,10 @@ Global Symbols

    [Called By]

    • >>   __rt_memcpy
    -

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

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

    [Stack]

    • Max Depth = 8
    • Call Chain = __aeabi_memcpy8
    -
    [Called By]
    • >>   Chassis_UpdateFeedback +
      [Called By]
      • >>   Shoot_UpdateFeedback

      __rt_memcpy_w (Thumb, 100 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED) @@ -519,13 +519,13 @@ Global Symbols

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

      [Called By]

      • >>   SystemClock_Config
      • >>   BSP_CAN_Init -
      • >>   MOTOR_DM_CreateCANManager -
      • >>   MOTOR_RM_CreateCANManager +
      • >>   MOTOR_DM_CreateCANManager +
      • >>   MOTOR_RM_CreateCANManager
      -

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

      [Called By]

      • >>   MOTOR_DM_Register -
      • >>   MOTOR_RM_Register +

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

        [Called By]

        • >>   MOTOR_DM_Register +
        • >>   MOTOR_RM_Register

        __rt_memclr_w (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text), UNUSED) @@ -551,9 +551,9 @@ Global Symbols


      [Calls]
      • >>   __aeabi_errno_addr
      -
      [Called By]
      • >>   __hardfp_tanf +
        [Called By]
        • >>   __hardfp_tanf
        • >>   __hardfp_pow -
        • >>   __hardfp_cosf +
        • >>   __hardfp_cosf
        • >>   __hardfp_atan2f
        • >>   __hardfp_atan2
        • >>   __hardfp_asinf @@ -627,10 +627,10 @@ Global Symbols
          [Called By]
          • >>   Task_atti_esti
          -

          AHRS_ResetEulr (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr)) +

          AHRS_ResetEulr (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr))

          [Stack]

          • Max Depth = 4
          • Call Chain = AHRS_ResetEulr
          -
          [Called By]
          • >>   Gimbal_SetMode +
            [Called By]
            • >>   Gimbal_SetMode

            AHRS_Update (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update)) @@ -675,10 +675,10 @@ Global Symbols
            [Called By]

            • >>   Task_ai
            -

            AbsClip (Thumb, 106 bytes, Stack size 16 bytes, user_math.o(.text.AbsClip)) +

            AbsClip (Thumb, 106 bytes, Stack size 16 bytes, user_math.o(.text.AbsClip))

            [Stack]

            • Max Depth = 16
            • Call Chain = AbsClip
            -
            [Called By]
            • >>   PID_Calc +
              [Called By]
              • >>   PID_Calc

              BMI088_AcclStartDmaRecv (Thumb, 30 bytes, Stack size 16 bytes, bmi088.o(.text.BMI088_AcclStartDmaRecv)) @@ -771,8 +771,8 @@ Global Symbols

            • >>   osMutexAcquire
            • >>   osMessageQueueGet
            -
            [Called By]
            • >>   MOTOR_DM_Update -
            • >>   MOTOR_RM_Update +
              [Called By]
              • >>   MOTOR_DM_Update +
              • >>   MOTOR_RM_Update

              BSP_CAN_Init (Thumb, 372 bytes, Stack size 96 bytes, can_1.o(.text.BSP_CAN_Init)) @@ -787,8 +787,8 @@ Global Symbols

            • >>   osMutexNew
            • >>   __aeabi_memclr4
            -
            [Called By]
            • >>   Shoot_Init -
            • >>   Gimbal_Init +
              [Called By]
              • >>   Shoot_Init +
              • >>   Gimbal_Init

              BSP_CAN_ParseId (Thumb, 66 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_ParseId)) @@ -811,8 +811,8 @@ Global Symbols


            [Calls]
            • >>   BSP_CAN_CreateIdQueue
            -
            [Called By]
            • >>   MOTOR_DM_Register -
            • >>   MOTOR_RM_Register +
              [Called By]
              • >>   MOTOR_DM_Register +
              • >>   MOTOR_RM_Register

              BSP_CAN_Transmit (Thumb, 374 bytes, Stack size 80 bytes, can_1.o(.text.BSP_CAN_Transmit)) @@ -832,9 +832,9 @@ Global Symbols


            [Calls]
            • >>   BSP_CAN_Transmit
            -
            [Called By]
            • >>   MOTOR_DM_Enable -
            • >>   MOTOR_DM_SendMITCmd -
            • >>   MOTOR_RM_Ctrl +
              [Called By]
              • >>   MOTOR_DM_Enable +
              • >>   MOTOR_DM_SendMITCmd +
              • >>   MOTOR_RM_Ctrl

              BSP_Free (Thumb, 16 bytes, Stack size 16 bytes, mm.o(.text.BSP_Free)) @@ -843,10 +843,8 @@ Global Symbols
              [Calls]

              • >>   vPortFree

              [Called By]
              • >>   BSP_CAN_CreateIdQueue -
              • >>   Shoot_Init -
              • >>   Config_ShootInit -
              • >>   MOTOR_DM_Register -
              • >>   MOTOR_RM_Register +
              • >>   MOTOR_DM_Register +
              • >>   MOTOR_RM_Register

              BSP_GPIO_DisableIRQ (Thumb, 88 bytes, Stack size 16 bytes, gpio_1.o(.text.BSP_GPIO_DisableIRQ)) @@ -896,12 +894,10 @@ Global Symbols
              [Calls]

              • >>   pvPortMalloc

              [Called By]
              • >>   BSP_CAN_CreateIdQueue -
              • >>   Shoot_Init -
              • >>   Config_ShootInit -
              • >>   MOTOR_DM_Register -
              • >>   MOTOR_DM_CreateCANManager -
              • >>   MOTOR_RM_Register -
              • >>   MOTOR_RM_CreateCANManager +
              • >>   MOTOR_DM_Register +
              • >>   MOTOR_DM_CreateCANManager +
              • >>   MOTOR_RM_Register +
              • >>   MOTOR_RM_CreateCANManager

              BSP_PWM_SetComp (Thumb, 318 bytes, Stack size 24 bytes, pwm.o(.text.BSP_PWM_SetComp)) @@ -975,15 +971,15 @@ Global Symbols
              [Calls]

              • >>   osKernelGetTickFreq
              • >>   xTaskGetTickCount
              -
              [Called By]
              • >>   MOTOR_DM_Update -
              • >>   MOTOR_RM_Update +
                [Called By]
                • >>   MOTOR_DM_Update +
                • >>   MOTOR_RM_Update
                -

                BSP_TIME_Get_us (Thumb, 170 bytes, Stack size 48 bytes, time.o(.text.BSP_TIME_Get_us)) +

                BSP_TIME_Get_us (Thumb, 170 bytes, Stack size 48 bytes, time.o(.text.BSP_TIME_Get_us))

                [Stack]

                • Max Depth = 48
                • Call Chain = BSP_TIME_Get_us
                -
                [Called By]
                • >>   Shoot_Control -
                • >>   Gimbal_Control +
                  [Called By]
                  • >>   Shoot_Control +
                  • >>   Gimbal_Control

                  BSP_UART_GetHandle (Thumb, 88 bytes, Stack size 12 bytes, uart.o(.text.BSP_UART_GetHandle)) @@ -1087,36 +1083,25 @@ Global Symbols

                • >>   AI_Get_NUC
                -

                Chassis_UpdateFeedback (Thumb, 712 bytes, Stack size 40 bytes, shoot.o(.text.Chassis_UpdateFeedback)) -

                [Stack]

                • Max Depth = 364
                • Call Chain = Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd -
                -
                [Calls]
                • >>   LowPassFilter2p_Apply -
                • >>   __aeabi_memcpy8 -
                • >>   MOTOR_RM_Update -
                • >>   MOTOR_RM_GetMotor -
                -
                [Called By]
                • >>   Task_shoot_ctrl -
                - -

                CircleAdd (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd)) +

                CircleAdd (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))

                [Stack]

                • Max Depth = 16
                • Call Chain = CircleAdd
                -
                [Called By]
                • >>   Shoot_CaluTargetAngle -
                • >>   Gimbal_Control +
                  [Called By]
                  • >>   Shoot_CaluTargetAngle +
                  • >>   Gimbal_Control
                  -

                  CircleError (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError)) +

                  CircleError (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))

                  [Stack]

                  • Max Depth = 20
                  • Call Chain = CircleError
                  -
                  [Called By]
                  • >>   PID_Calc -
                  • >>   Shoot_CaluTargetAngle -
                  • >>   Gimbal_Control +
                    [Called By]
                    • >>   PID_Calc +
                    • >>   Shoot_CaluTargetAngle +
                    • >>   Gimbal_Control
                    -

                    Clip (Thumb, 76 bytes, Stack size 12 bytes, user_math.o(.text.Clip)) +

                    Clip (Thumb, 76 bytes, Stack size 12 bytes, user_math.o(.text.Clip))

                    [Stack]

                    • Max Depth = 12
                    • Call Chain = Clip
                    -
                    [Called By]
                    • >>   Gimbal_Control +
                      [Called By]
                      • >>   Gimbal_Control

                      Config_GetRobotParam (Thumb, 10 bytes, Stack size 0 bytes, config.o(.text.Config_GetRobotParam)) @@ -1124,28 +1109,19 @@ Global Symbols

                    • >>   Task_gimbal_ctrl
                    -

                    Config_ShootInit (Thumb, 292 bytes, Stack size 40 bytes, config.o(.text.Config_ShootInit)) -

                    [Stack]

                    • Max Depth = 172
                    • Call Chain = Config_ShootInit ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd -
                    -
                    [Calls]
                    • >>   BSP_Malloc -
                    • >>   BSP_Free -
                    -
                    [Called By]
                    • >>   Task_shoot_ctrl -
                    -

                    DMA1_Stream1_IRQHandler (Thumb, 20 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler))

                    [Stack]

                    • Max Depth = 80
                    • Call Chain = DMA1_Stream1_IRQHandler ⇒ DMA1_Stream1_IRQHandler1 ⇒ sbus_to_rc ⇒ __aeabi_dmul
                    -
                    [Calls]
                    • >>   HAL_DMA_IRQHandler -
                    • >>   DMA1_Stream1_IRQHandler1 +
                      [Calls]
                      • >>   HAL_DMA_IRQHandler +
                      • >>   DMA1_Stream1_IRQHandler1

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

                      DMA1_Stream1_IRQHandler1 (Thumb, 86 bytes, Stack size 8 bytes, remote_control.o(.text.DMA1_Stream1_IRQHandler1)) +

                      DMA1_Stream1_IRQHandler1 (Thumb, 86 bytes, Stack size 8 bytes, remote_control.o(.text.DMA1_Stream1_IRQHandler1))

                      [Stack]

                      • Max Depth = 72
                      • Call Chain = DMA1_Stream1_IRQHandler1 ⇒ sbus_to_rc ⇒ __aeabi_dmul
                      -
                      [Calls]
                      • >>   RC_restart -
                      • >>   sbus_to_rc +
                        [Calls]
                        • >>   RC_restart +
                        • >>   sbus_to_rc

                        [Called By]
                        • >>   DMA1_Stream1_IRQHandler
                        @@ -1153,56 +1129,56 @@ Global Symbols

                        DMA1_Stream5_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA1_Stream5_IRQHandler))

                        [Stack]

                        • Max Depth = 40
                        • Call Chain = DMA1_Stream5_IRQHandler ⇒ HAL_DMA_IRQHandler
                        -
                        [Calls]
                        • >>   HAL_DMA_IRQHandler +
                          [Calls]
                          • >>   HAL_DMA_IRQHandler

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

                          DMA1_Stream6_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler))

                          [Stack]

                          • Max Depth = 40
                          • Call Chain = DMA1_Stream6_IRQHandler ⇒ HAL_DMA_IRQHandler
                          -
                          [Calls]
                          • >>   HAL_DMA_IRQHandler +
                            [Calls]
                            • >>   HAL_DMA_IRQHandler

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

                            DMA2_Stream1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler))

                            [Stack]

                            • Max Depth = 40
                            • Call Chain = DMA2_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
                            -
                            [Calls]
                            • >>   HAL_DMA_IRQHandler +
                              [Calls]
                              • >>   HAL_DMA_IRQHandler

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

                              DMA2_Stream2_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler))

                              [Stack]

                              • Max Depth = 40
                              • Call Chain = DMA2_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
                              -
                              [Calls]
                              • >>   HAL_DMA_IRQHandler +
                                [Calls]
                                • >>   HAL_DMA_IRQHandler

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

                                DMA2_Stream3_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler))

                                [Stack]

                                • Max Depth = 40
                                • Call Chain = DMA2_Stream3_IRQHandler ⇒ HAL_DMA_IRQHandler
                                -
                                [Calls]
                                • >>   HAL_DMA_IRQHandler +
                                  [Calls]
                                  • >>   HAL_DMA_IRQHandler

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

                                  DMA2_Stream5_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler))

                                  [Stack]

                                  • Max Depth = 40
                                  • Call Chain = DMA2_Stream5_IRQHandler ⇒ HAL_DMA_IRQHandler
                                  -
                                  [Calls]
                                  • >>   HAL_DMA_IRQHandler +
                                    [Calls]
                                    • >>   HAL_DMA_IRQHandler

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

                                    DMA2_Stream6_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler))

                                    [Stack]

                                    • Max Depth = 40
                                    • Call Chain = DMA2_Stream6_IRQHandler ⇒ HAL_DMA_IRQHandler
                                    -
                                    [Calls]
                                    • >>   HAL_DMA_IRQHandler +
                                      [Calls]
                                      • >>   HAL_DMA_IRQHandler

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

                                      DMA2_Stream7_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream7_IRQHandler))

                                      [Stack]

                                      • Max Depth = 40
                                      • Call Chain = DMA2_Stream7_IRQHandler ⇒ HAL_DMA_IRQHandler
                                      -
                                      [Calls]
                                      • >>   HAL_DMA_IRQHandler +
                                        [Calls]
                                        • >>   HAL_DMA_IRQHandler

                                        [Address Reference Count : 1]
                                        • startup_stm32f407xx.o(RESET)
                                        @@ -1212,109 +1188,109 @@ Global Symbols

                                        EXTI0_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI0_IRQHandler))

                                        [Stack]

                                        • Max Depth = 40
                                        • Call Chain = EXTI0_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                        -
                                        [Calls]
                                        • >>   HAL_GPIO_EXTI_IRQHandler +
                                          [Calls]
                                          • >>   HAL_GPIO_EXTI_IRQHandler

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

                                          EXTI3_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI3_IRQHandler))

                                          [Stack]

                                          • Max Depth = 40
                                          • Call Chain = EXTI3_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                          -
                                          [Calls]
                                          • >>   HAL_GPIO_EXTI_IRQHandler +
                                            [Calls]
                                            • >>   HAL_GPIO_EXTI_IRQHandler

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

                                            EXTI4_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI4_IRQHandler))

                                            [Stack]

                                            • Max Depth = 40
                                            • Call Chain = EXTI4_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                            -
                                            [Calls]
                                            • >>   HAL_GPIO_EXTI_IRQHandler +
                                              [Calls]
                                              • >>   HAL_GPIO_EXTI_IRQHandler

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

                                              EXTI9_5_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI9_5_IRQHandler))

                                              [Stack]

                                              • Max Depth = 40
                                              • Call Chain = EXTI9_5_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                              -
                                              [Calls]
                                              • >>   HAL_GPIO_EXTI_IRQHandler +
                                                [Calls]
                                                • >>   HAL_GPIO_EXTI_IRQHandler

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

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

                                                [Called By]

                                                • >>   HAL_UART_MspInit -
                                                • >>   HAL_SPI_MspInit +

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

                                                  [Called By]

                                                  • >>   HAL_UART_MspInit +
                                                  • >>   HAL_SPI_MspInit
                                                  • >>   SystemClock_Config -
                                                  • >>   MX_USART6_UART_Init -
                                                  • >>   MX_USART3_UART_Init -
                                                  • >>   MX_USART2_UART_Init -
                                                  • >>   MX_USART1_UART_Init -
                                                  • >>   MX_TIM7_Init -
                                                  • >>   MX_TIM10_Init -
                                                  • >>   MX_SPI2_Init -
                                                  • >>   MX_SPI1_Init -
                                                  • >>   MX_I2C2_Init -
                                                  • >>   MX_I2C1_Init -
                                                  • >>   MX_CAN2_Init -
                                                  • >>   MX_CAN1_Init +
                                                  • >>   MX_USART6_UART_Init +
                                                  • >>   MX_USART3_UART_Init +
                                                  • >>   MX_USART2_UART_Init +
                                                  • >>   MX_USART1_UART_Init +
                                                  • >>   MX_TIM7_Init +
                                                  • >>   MX_TIM10_Init +
                                                  • >>   MX_SPI2_Init +
                                                  • >>   MX_SPI1_Init +
                                                  • >>   MX_I2C2_Init +
                                                  • >>   MX_I2C1_Init +
                                                  • >>   MX_CAN2_Init +
                                                  • >>   MX_CAN1_Init
                                                  -

                                                  Gimbal_Control (Thumb, 1540 bytes, Stack size 104 bytes, gimbal.o(.text.Gimbal_Control)) +

                                                  Gimbal_Control (Thumb, 1540 bytes, Stack size 104 bytes, gimbal.o(.text.Gimbal_Control))

                                                  [Stack]

                                                  • Max Depth = 392
                                                  • Call Chain = Gimbal_Control ⇒ poly ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
                                                  -
                                                  [Calls]
                                                  • >>   Clip -
                                                  • >>   CircleAdd -
                                                  • >>   PID_Calc -
                                                  • >>   CircleError -
                                                  • >>   LowPassFilter2p_Apply -
                                                  • >>   BSP_TIME_Get_us -
                                                  • >>   __aeabi_ul2f +
                                                    [Calls]
                                                    • >>   Clip +
                                                    • >>   CircleAdd +
                                                    • >>   PID_Calc +
                                                    • >>   CircleError +
                                                    • >>   LowPassFilter2p_Apply +
                                                    • >>   BSP_TIME_Get_us +
                                                    • >>   __aeabi_ul2f
                                                    • >>   __aeabi_f2d -
                                                    • >>   __aeabi_dadd +
                                                    • >>   __aeabi_dadd
                                                    • >>   __aeabi_d2f -
                                                    • >>   major_yaw_Control -
                                                    • >>   poly -
                                                    • >>   motor_imu_offset -
                                                    • >>   Gimbal_SetMode +
                                                    • >>   major_yaw_Control +
                                                    • >>   poly +
                                                    • >>   motor_imu_offset +
                                                    • >>   Gimbal_SetMode

                                                    [Called By]
                                                    • >>   Task_gimbal_ctrl
                                                    -

                                                    Gimbal_Init (Thumb, 442 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init)) +

                                                    Gimbal_Init (Thumb, 442 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))

                                                    [Stack]

                                                    • Max Depth = 372 + Unknown Stack Size
                                                    • Call Chain = Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
                                                    -
                                                    [Calls]
                                                    • >>   PID_Init -
                                                    • >>   LowPassFilter2p_Init +
                                                      [Calls]
                                                      • >>   PID_Init +
                                                      • >>   LowPassFilter2p_Init
                                                      • >>   BSP_CAN_Init -
                                                      • >>   MOTOR_DM_Register -
                                                      • >>   MOTOR_DM_Enable -
                                                      • >>   MOTOR_RM_Register +
                                                      • >>   MOTOR_DM_Register +
                                                      • >>   MOTOR_DM_Enable +
                                                      • >>   MOTOR_RM_Register

                                                      [Called By]
                                                      • >>   Task_gimbal_ctrl
                                                      -

                                                      Gimbal_Output (Thumb, 406 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Output)) +

                                                      Gimbal_Output (Thumb, 406 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Output))

                                                      [Stack]

                                                      • Max Depth = 248
                                                      • Call Chain = Gimbal_Output ⇒ MOTOR_DM_MITCtrl ⇒ MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
                                                      -
                                                      [Calls]
                                                      • >>   MOTOR_DM_MITCtrl -
                                                      • >>   MOTOR_RM_SetOutput -
                                                      • >>   MOTOR_RM_Ctrl +
                                                        [Calls]
                                                        • >>   MOTOR_DM_MITCtrl +
                                                        • >>   MOTOR_RM_SetOutput +
                                                        • >>   MOTOR_RM_Ctrl

                                                        [Called By]
                                                        • >>   Task_gimbal_ctrl
                                                        -

                                                        Gimbal_UpdateFeedback (Thumb, 522 bytes, Stack size 40 bytes, gimbal.o(.text.Gimbal_UpdateFeedback)) +

                                                        Gimbal_UpdateFeedback (Thumb, 522 bytes, Stack size 40 bytes, gimbal.o(.text.Gimbal_UpdateFeedback))

                                                        [Stack]

                                                        • Max Depth = 364
                                                        • Call Chain = Gimbal_UpdateFeedback ⇒ MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
                                                        -
                                                        [Calls]
                                                        • >>   MOTOR_DM_Update -
                                                        • >>   MOTOR_DM_GetMotor -
                                                        • >>   MOTOR_RM_Update -
                                                        • >>   MOTOR_RM_GetMotor +
                                                          [Calls]
                                                          • >>   MOTOR_DM_Update +
                                                          • >>   MOTOR_DM_GetMotor +
                                                          • >>   MOTOR_RM_Update +
                                                          • >>   MOTOR_RM_GetMotor

                                                          [Called By]
                                                          • >>   Task_gimbal_ctrl
                                                          -

                                                          Gimbal_UpdateIMU (Thumb, 142 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_UpdateIMU)) +

                                                          Gimbal_UpdateIMU (Thumb, 142 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_UpdateIMU))

                                                          [Stack]

                                                          • Max Depth = 48
                                                          • Call Chain = Gimbal_UpdateIMU ⇒ Gimbal_Direction
                                                          -
                                                          [Calls]
                                                          • >>   Gimbal_Direction +
                                                            [Calls]
                                                            • >>   Gimbal_Direction

                                                            [Called By]
                                                            • >>   Task_gimbal_ctrl
                                                            @@ -1338,10 +1314,10 @@ Global Symbols
                                                            [Called By]
                                                            • >>   BSP_CAN_Init
                                                            -

                                                            HAL_CAN_ErrorCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_ErrorCallback)) +

                                                            HAL_CAN_ErrorCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_ErrorCallback))

                                                            [Stack]

                                                            • Max Depth = 24
                                                            • Call Chain = HAL_CAN_ErrorCallback ⇒ CAN_Get
                                                            -
                                                            [Calls]
                                                            • >>   CAN_Get +
                                                              [Calls]
                                                              • >>   CAN_Get

                                                              [Called By]
                                                              • >>   HAL_CAN_IRQHandler
                                                              @@ -1370,19 +1346,19 @@ Global Symbols

                                                              HAL_CAN_IRQHandler (Thumb, 1010 bytes, Stack size 48 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler))

                                                              [Stack]

                                                              • Max Depth = 72
                                                              • Call Chain = HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
                                                              -
                                                              [Calls]
                                                              • >>   HAL_CAN_WakeUpFromRxMsgCallback -
                                                              • >>   HAL_CAN_TxMailbox2CompleteCallback -
                                                              • >>   HAL_CAN_TxMailbox2AbortCallback -
                                                              • >>   HAL_CAN_TxMailbox1CompleteCallback -
                                                              • >>   HAL_CAN_TxMailbox1AbortCallback -
                                                              • >>   HAL_CAN_TxMailbox0CompleteCallback -
                                                              • >>   HAL_CAN_TxMailbox0AbortCallback -
                                                              • >>   HAL_CAN_SleepCallback -
                                                              • >>   HAL_CAN_RxFifo1MsgPendingCallback -
                                                              • >>   HAL_CAN_RxFifo1FullCallback -
                                                              • >>   HAL_CAN_RxFifo0MsgPendingCallback -
                                                              • >>   HAL_CAN_RxFifo0FullCallback -
                                                              • >>   HAL_CAN_ErrorCallback +
                                                                [Calls]
                                                                • >>   HAL_CAN_WakeUpFromRxMsgCallback +
                                                                • >>   HAL_CAN_TxMailbox2CompleteCallback +
                                                                • >>   HAL_CAN_TxMailbox2AbortCallback +
                                                                • >>   HAL_CAN_TxMailbox1CompleteCallback +
                                                                • >>   HAL_CAN_TxMailbox1AbortCallback +
                                                                • >>   HAL_CAN_TxMailbox0CompleteCallback +
                                                                • >>   HAL_CAN_TxMailbox0AbortCallback +
                                                                • >>   HAL_CAN_SleepCallback +
                                                                • >>   HAL_CAN_RxFifo1MsgPendingCallback +
                                                                • >>   HAL_CAN_RxFifo1FullCallback +
                                                                • >>   HAL_CAN_RxFifo0MsgPendingCallback +
                                                                • >>   HAL_CAN_RxFifo0FullCallback +
                                                                • >>   HAL_CAN_ErrorCallback

                                                                [Called By]
                                                                • >>   CAN2_TX_IRQHandler
                                                                • >>   CAN2_RX1_IRQHandler @@ -1392,62 +1368,62 @@ Global Symbols
                                                                • >>   CAN1_RX0_IRQHandler
                                                                -

                                                                HAL_CAN_Init (Thumb, 478 bytes, Stack size 24 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init)) +

                                                                HAL_CAN_Init (Thumb, 478 bytes, Stack size 24 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init))

                                                                [Stack]

                                                                • Max Depth = 184
                                                                • Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

                                                                [Calls]
                                                                • >>   HAL_GetTick -
                                                                • >>   HAL_CAN_MspInit +
                                                                • >>   HAL_CAN_MspInit
                                                                -
                                                                [Called By]
                                                                • >>   MX_CAN2_Init -
                                                                • >>   MX_CAN1_Init +
                                                                  [Called By]
                                                                  • >>   MX_CAN2_Init +
                                                                  • >>   MX_CAN1_Init
                                                                  -

                                                                  HAL_CAN_MspInit (Thumb, 464 bytes, Stack size 96 bytes, can.o(.text.HAL_CAN_MspInit)) +

                                                                  HAL_CAN_MspInit (Thumb, 464 bytes, Stack size 96 bytes, can.o(.text.HAL_CAN_MspInit))

                                                                  [Stack]

                                                                  • Max Depth = 160
                                                                  • Call Chain = HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                  -
                                                                  [Calls]
                                                                  • >>   HAL_NVIC_SetPriority +
                                                                    [Calls]
                                                                    • >>   HAL_NVIC_SetPriority
                                                                    • >>   HAL_NVIC_EnableIRQ -
                                                                    • >>   HAL_GPIO_Init +
                                                                    • >>   HAL_GPIO_Init
                                                                    -
                                                                    [Called By]
                                                                    • >>   HAL_CAN_Init +
                                                                      [Called By]
                                                                      • >>   HAL_CAN_Init
                                                                      -

                                                                      HAL_CAN_RxFifo0FullCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback)) +

                                                                      HAL_CAN_RxFifo0FullCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback))

                                                                      [Stack]

                                                                      • Max Depth = 24
                                                                      • Call Chain = HAL_CAN_RxFifo0FullCallback ⇒ CAN_Get
                                                                      -
                                                                      [Calls]
                                                                      • >>   CAN_Get +
                                                                        [Calls]
                                                                        • >>   CAN_Get

                                                                        [Called By]
                                                                        • >>   HAL_CAN_IRQHandler
                                                                        -

                                                                        HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)) +

                                                                        HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback))

                                                                        [Stack]

                                                                        • Max Depth = 24
                                                                        • Call Chain = HAL_CAN_RxFifo0MsgPendingCallback ⇒ CAN_Get
                                                                        -
                                                                        [Calls]
                                                                        • >>   CAN_Get +
                                                                          [Calls]
                                                                          • >>   CAN_Get

                                                                          [Called By]
                                                                          • >>   HAL_CAN_IRQHandler
                                                                          -

                                                                          HAL_CAN_RxFifo1FullCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback)) +

                                                                          HAL_CAN_RxFifo1FullCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback))

                                                                          [Stack]

                                                                          • Max Depth = 24
                                                                          • Call Chain = HAL_CAN_RxFifo1FullCallback ⇒ CAN_Get
                                                                          -
                                                                          [Calls]
                                                                          • >>   CAN_Get +
                                                                            [Calls]
                                                                            • >>   CAN_Get

                                                                            [Called By]
                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)) +

                                                                            HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback))

                                                                            [Stack]

                                                                            • Max Depth = 24
                                                                            • Call Chain = HAL_CAN_RxFifo1MsgPendingCallback ⇒ CAN_Get
                                                                            -
                                                                            [Calls]
                                                                            • >>   CAN_Get +
                                                                              [Calls]
                                                                              • >>   CAN_Get

                                                                              [Called By]
                                                                              • >>   HAL_CAN_IRQHandler
                                                                              -

                                                                              HAL_CAN_SleepCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_SleepCallback)) +

                                                                              HAL_CAN_SleepCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_SleepCallback))

                                                                              [Stack]

                                                                              • Max Depth = 24
                                                                              • Call Chain = HAL_CAN_SleepCallback ⇒ CAN_Get
                                                                              -
                                                                              [Calls]
                                                                              • >>   CAN_Get +
                                                                                [Calls]
                                                                                • >>   CAN_Get

                                                                                [Called By]
                                                                                • >>   HAL_CAN_IRQHandler
                                                                                @@ -1460,85 +1436,85 @@ Global Symbols
                                                                                [Called By]
                                                                                • >>   BSP_CAN_Init
                                                                                -

                                                                                HAL_CAN_TxMailbox0AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)) +

                                                                                HAL_CAN_TxMailbox0AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback))

                                                                                [Stack]

                                                                                • Max Depth = 24
                                                                                • Call Chain = HAL_CAN_TxMailbox0AbortCallback ⇒ CAN_Get
                                                                                -
                                                                                [Calls]
                                                                                • >>   CAN_Get +
                                                                                  [Calls]
                                                                                  • >>   CAN_Get

                                                                                  [Called By]
                                                                                  • >>   HAL_CAN_IRQHandler
                                                                                  -

                                                                                  HAL_CAN_TxMailbox0CompleteCallback (Thumb, 76 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)) +

                                                                                  HAL_CAN_TxMailbox0CompleteCallback (Thumb, 76 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback))

                                                                                  [Stack]

                                                                                  • Max Depth = 24
                                                                                  • Call Chain = HAL_CAN_TxMailbox0CompleteCallback ⇒ CAN_Get
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   CAN_Get +
                                                                                    [Calls]
                                                                                    • >>   CAN_Get

                                                                                    [Called By]
                                                                                    • >>   HAL_CAN_IRQHandler
                                                                                    -

                                                                                    HAL_CAN_TxMailbox1AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)) +

                                                                                    HAL_CAN_TxMailbox1AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback))

                                                                                    [Stack]

                                                                                    • Max Depth = 24
                                                                                    • Call Chain = HAL_CAN_TxMailbox1AbortCallback ⇒ CAN_Get
                                                                                    -
                                                                                    [Calls]
                                                                                    • >>   CAN_Get +
                                                                                      [Calls]
                                                                                      • >>   CAN_Get

                                                                                      [Called By]
                                                                                      • >>   HAL_CAN_IRQHandler
                                                                                      -

                                                                                      HAL_CAN_TxMailbox1CompleteCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)) +

                                                                                      HAL_CAN_TxMailbox1CompleteCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback))

                                                                                      [Stack]

                                                                                      • Max Depth = 24
                                                                                      • Call Chain = HAL_CAN_TxMailbox1CompleteCallback ⇒ CAN_Get
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   CAN_Get +
                                                                                        [Calls]
                                                                                        • >>   CAN_Get

                                                                                        [Called By]
                                                                                        • >>   HAL_CAN_IRQHandler
                                                                                        -

                                                                                        HAL_CAN_TxMailbox2AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)) +

                                                                                        HAL_CAN_TxMailbox2AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback))

                                                                                        [Stack]

                                                                                        • Max Depth = 24
                                                                                        • Call Chain = HAL_CAN_TxMailbox2AbortCallback ⇒ CAN_Get
                                                                                        -
                                                                                        [Calls]
                                                                                        • >>   CAN_Get +
                                                                                          [Calls]
                                                                                          • >>   CAN_Get

                                                                                          [Called By]
                                                                                          • >>   HAL_CAN_IRQHandler
                                                                                          -

                                                                                          HAL_CAN_TxMailbox2CompleteCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)) +

                                                                                          HAL_CAN_TxMailbox2CompleteCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback))

                                                                                          [Stack]

                                                                                          • Max Depth = 24
                                                                                          • Call Chain = HAL_CAN_TxMailbox2CompleteCallback ⇒ CAN_Get
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   CAN_Get +
                                                                                            [Calls]
                                                                                            • >>   CAN_Get

                                                                                            [Called By]
                                                                                            • >>   HAL_CAN_IRQHandler
                                                                                            -

                                                                                            HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)) +

                                                                                            HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback))

                                                                                            [Stack]

                                                                                            • Max Depth = 24
                                                                                            • Call Chain = HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
                                                                                            -
                                                                                            [Calls]
                                                                                            • >>   CAN_Get +
                                                                                              [Calls]
                                                                                              • >>   CAN_Get

                                                                                              [Called By]
                                                                                              • >>   HAL_CAN_IRQHandler
                                                                                              -

                                                                                              HAL_DMA_Abort (Thumb, 236 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)) +

                                                                                              HAL_DMA_Abort (Thumb, 236 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort))

                                                                                              [Stack]

                                                                                              • Max Depth = 24
                                                                                              • Call Chain = HAL_DMA_Abort

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

                                                                                                HAL_DMA_Abort_IT (Thumb, 68 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)) +

                                                                                                HAL_DMA_Abort_IT (Thumb, 68 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT))

                                                                                                [Stack]

                                                                                                • Max Depth = 8
                                                                                                • Call Chain = HAL_DMA_Abort_IT
                                                                                                -
                                                                                                [Called By]
                                                                                                • >>   I2C_Slave_STOPF -
                                                                                                • >>   I2C_ITError -
                                                                                                • >>   HAL_UART_IRQHandler +
                                                                                                  [Called By]
                                                                                                  • >>   I2C_Slave_STOPF +
                                                                                                  • >>   I2C_ITError +
                                                                                                  • >>   HAL_UART_IRQHandler
                                                                                                  -

                                                                                                  HAL_DMA_GetState (Thumb, 14 bytes, Stack size 4 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)) +

                                                                                                  HAL_DMA_GetState (Thumb, 14 bytes, Stack size 4 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState))

                                                                                                  [Stack]

                                                                                                  • Max Depth = 4
                                                                                                  • Call Chain = HAL_DMA_GetState
                                                                                                  -
                                                                                                  [Called By]
                                                                                                  • >>   I2C_Slave_STOPF +
                                                                                                    [Called By]
                                                                                                    • >>   I2C_Slave_STOPF
                                                                                                    -

                                                                                                    HAL_DMA_IRQHandler (Thumb, 798 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)) +

                                                                                                    HAL_DMA_IRQHandler (Thumb, 798 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 32
                                                                                                    • Call Chain = HAL_DMA_IRQHandler

                                                                                                    [Called By]
                                                                                                    • >>   DMA2_Stream7_IRQHandler @@ -1552,26 +1528,26 @@ Global Symbols
                                                                                                    • >>   DMA1_Stream1_IRQHandler
                                                                                                    -

                                                                                                    HAL_DMA_Init (Thumb, 366 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)) +

                                                                                                    HAL_DMA_Init (Thumb, 366 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 56
                                                                                                    • Call Chain = HAL_DMA_Init ⇒ DMA_CheckFifoParam
                                                                                                    -
                                                                                                    [Calls]
                                                                                                    • >>   DMA_CheckFifoParam -
                                                                                                    • >>   DMA_CalcBaseAndBitshift +
                                                                                                      [Calls]
                                                                                                      • >>   DMA_CheckFifoParam +
                                                                                                      • >>   DMA_CalcBaseAndBitshift
                                                                                                      • >>   HAL_GetTick
                                                                                                      -
                                                                                                      [Called By]
                                                                                                      • >>   HAL_UART_MspInit -
                                                                                                      • >>   HAL_SPI_MspInit +
                                                                                                        [Called By]
                                                                                                        • >>   HAL_UART_MspInit +
                                                                                                        • >>   HAL_SPI_MspInit
                                                                                                        -

                                                                                                        HAL_DMA_Start_IT (Thumb, 194 bytes, Stack size 40 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)) +

                                                                                                        HAL_DMA_Start_IT (Thumb, 194 bytes, Stack size 40 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 56
                                                                                                        • Call Chain = HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                        -
                                                                                                        [Calls]
                                                                                                        • >>   DMA_SetConfig +
                                                                                                          [Calls]
                                                                                                          • >>   DMA_SetConfig
                                                                                                          -
                                                                                                          [Called By]
                                                                                                          • >>   UART_Start_Receive_DMA +
                                                                                                            [Called By]
                                                                                                            • >>   UART_Start_Receive_DMA
                                                                                                            • >>   HAL_UART_Transmit_DMA
                                                                                                            • >>   HAL_SPI_Transmit_DMA -
                                                                                                            • >>   HAL_SPI_TransmitReceive_DMA +
                                                                                                            • >>   HAL_SPI_TransmitReceive_DMA
                                                                                                            • >>   HAL_SPI_Receive_DMA
                                                                                                            @@ -1583,16 +1559,16 @@ Global Symbols
                                                                                                            [Called By]
                                                                                                            • >>   BSP_TIME_Delay
                                                                                                            -

                                                                                                            HAL_GPIO_EXTI_Callback (Thumb, 102 bytes, Stack size 16 bytes, gpio_1.o(.text.HAL_GPIO_EXTI_Callback)) +

                                                                                                            HAL_GPIO_EXTI_Callback (Thumb, 102 bytes, Stack size 16 bytes, gpio_1.o(.text.HAL_GPIO_EXTI_Callback))

                                                                                                            [Stack]

                                                                                                            • Max Depth = 16
                                                                                                            • Call Chain = HAL_GPIO_EXTI_Callback
                                                                                                            -
                                                                                                            [Called By]
                                                                                                            • >>   HAL_GPIO_EXTI_IRQHandler +
                                                                                                              [Called By]
                                                                                                              • >>   HAL_GPIO_EXTI_IRQHandler
                                                                                                              -

                                                                                                              HAL_GPIO_EXTI_IRQHandler (Thumb, 56 bytes, Stack size 16 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)) +

                                                                                                              HAL_GPIO_EXTI_IRQHandler (Thumb, 56 bytes, Stack size 16 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler))

                                                                                                              [Stack]

                                                                                                              • Max Depth = 32
                                                                                                              • Call Chain = HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                                                                                              -
                                                                                                              [Calls]
                                                                                                              • >>   HAL_GPIO_EXTI_Callback +
                                                                                                                [Calls]
                                                                                                                • >>   HAL_GPIO_EXTI_Callback

                                                                                                                [Called By]
                                                                                                                • >>   EXTI9_5_IRQHandler
                                                                                                                • >>   EXTI4_IRQHandler @@ -1600,15 +1576,15 @@ Global Symbols
                                                                                                                • >>   EXTI0_IRQHandler
                                                                                                                -

                                                                                                                HAL_GPIO_Init (Thumb, 950 bytes, Stack size 56 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)) +

                                                                                                                HAL_GPIO_Init (Thumb, 950 bytes, Stack size 56 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init))

                                                                                                                [Stack]

                                                                                                                • Max Depth = 56
                                                                                                                • Call Chain = HAL_GPIO_Init
                                                                                                                -
                                                                                                                [Called By]
                                                                                                                • >>   HAL_UART_MspInit -
                                                                                                                • >>   HAL_TIM_MspPostInit -
                                                                                                                • >>   HAL_SPI_MspInit -
                                                                                                                • >>   HAL_I2C_MspInit -
                                                                                                                • >>   HAL_CAN_MspInit -
                                                                                                                • >>   MX_GPIO_Init +
                                                                                                                  [Called By]
                                                                                                                  • >>   HAL_UART_MspInit +
                                                                                                                  • >>   HAL_TIM_MspPostInit +
                                                                                                                  • >>   HAL_SPI_MspInit +
                                                                                                                  • >>   HAL_I2C_MspInit +
                                                                                                                  • >>   HAL_CAN_MspInit +
                                                                                                                  • >>   MX_GPIO_Init

                                                                                                                  HAL_GPIO_ReadPin (Thumb, 46 bytes, Stack size 8 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)) @@ -1620,22 +1596,22 @@ Global Symbols

                                                                                                                  HAL_GPIO_WritePin (Thumb, 46 bytes, Stack size 8 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin))

                                                                                                                  [Stack]

                                                                                                                  • Max Depth = 8
                                                                                                                  • Call Chain = HAL_GPIO_WritePin
                                                                                                                  -
                                                                                                                  [Called By]
                                                                                                                  • >>   MX_GPIO_Init +
                                                                                                                    [Called By]
                                                                                                                    • >>   MX_GPIO_Init
                                                                                                                    • >>   BSP_GPIO_WritePin

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

                                                                                                                    [Called By]

                                                                                                                    • >>   HAL_Delay -
                                                                                                                    • >>   HAL_DMA_Abort +
                                                                                                                    • >>   HAL_DMA_Abort
                                                                                                                    • >>   HAL_CAN_Start -
                                                                                                                    • >>   HAL_DMA_Init -
                                                                                                                    • >>   HAL_CAN_Init -
                                                                                                                    • >>   HAL_RCC_OscConfig -
                                                                                                                    • >>   HAL_RCC_ClockConfig -
                                                                                                                    • >>   HAL_SPI_TransmitReceive +
                                                                                                                    • >>   HAL_DMA_Init +
                                                                                                                    • >>   HAL_CAN_Init +
                                                                                                                    • >>   HAL_RCC_OscConfig +
                                                                                                                    • >>   HAL_RCC_ClockConfig +
                                                                                                                    • >>   HAL_SPI_TransmitReceive
                                                                                                                    • >>   HAL_SPI_Transmit
                                                                                                                    • >>   HAL_SPI_Receive -
                                                                                                                    • >>   SPI_WaitFlagStateUntilTimeout +
                                                                                                                    • >>   SPI_WaitFlagStateUntilTimeout
                                                                                                                    • >>   SPI_DMATransmitReceiveCplt
                                                                                                                    • >>   SPI_DMATransmitCplt
                                                                                                                    • >>   SPI_DMAReceiveCplt @@ -1643,183 +1619,183 @@ Global Symbols
                                                                                                                    • >>   BSP_CAN_RxFifo0Callback
                                                                                                                    -

                                                                                                                    HAL_I2C_AbortCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_AbortCpltCallback)) +

                                                                                                                    HAL_I2C_AbortCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_AbortCpltCallback))

                                                                                                                    [Stack]

                                                                                                                    • Max Depth = 24
                                                                                                                    • Call Chain = HAL_I2C_AbortCpltCallback ⇒ I2C_Get
                                                                                                                    -
                                                                                                                    [Calls]
                                                                                                                    • >>   I2C_Get +
                                                                                                                      [Calls]
                                                                                                                      • >>   I2C_Get
                                                                                                                      -
                                                                                                                      [Called By]
                                                                                                                      • >>   I2C_ITError +
                                                                                                                        [Called By]
                                                                                                                        • >>   I2C_ITError
                                                                                                                        • >>   I2C_DMAAbort
                                                                                                                        -

                                                                                                                        HAL_I2C_AddrCallback (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback)) +

                                                                                                                        HAL_I2C_AddrCallback (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback))

                                                                                                                        [Stack]

                                                                                                                        • Max Depth = 8
                                                                                                                        • Call Chain = HAL_I2C_AddrCallback
                                                                                                                        -
                                                                                                                        [Called By]
                                                                                                                        • >>   I2C_Slave_ADDR +
                                                                                                                          [Called By]
                                                                                                                          • >>   I2C_Slave_ADDR
                                                                                                                          -

                                                                                                                          HAL_I2C_ER_IRQHandler (Thumb, 378 bytes, Stack size 48 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler)) +

                                                                                                                          HAL_I2C_ER_IRQHandler (Thumb, 378 bytes, Stack size 48 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler))

                                                                                                                          [Stack]

                                                                                                                          • Max Depth = 96
                                                                                                                          • Call Chain = HAL_I2C_ER_IRQHandler ⇒ I2C_Slave_AF ⇒ HAL_I2C_SlaveTxCpltCallback ⇒ I2C_Get
                                                                                                                          -
                                                                                                                          [Calls]
                                                                                                                          • >>   I2C_Slave_AF -
                                                                                                                          • >>   I2C_ITError +
                                                                                                                            [Calls]
                                                                                                                            • >>   I2C_Slave_AF +
                                                                                                                            • >>   I2C_ITError

                                                                                                                            [Called By]
                                                                                                                            • >>   I2C1_ER_IRQHandler
                                                                                                                            -

                                                                                                                            HAL_I2C_EV_IRQHandler (Thumb, 970 bytes, Stack size 40 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler)) +

                                                                                                                            HAL_I2C_EV_IRQHandler (Thumb, 970 bytes, Stack size 40 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler))

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 112
                                                                                                                            • Call Chain = HAL_I2C_EV_IRQHandler ⇒ I2C_Slave_STOPF ⇒ I2C_ITError ⇒ HAL_I2C_ListenCpltCallback ⇒ I2C_Get
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   I2C_Slave_STOPF -
                                                                                                                            • >>   I2C_Slave_ADDR -
                                                                                                                            • >>   I2C_SlaveTransmit_TXE -
                                                                                                                            • >>   I2C_SlaveTransmit_BTF -
                                                                                                                            • >>   I2C_SlaveReceive_RXNE -
                                                                                                                            • >>   I2C_SlaveReceive_BTF -
                                                                                                                            • >>   I2C_MemoryTransmit_TXE_BTF -
                                                                                                                            • >>   I2C_Master_SB -
                                                                                                                            • >>   I2C_Master_ADDR -
                                                                                                                            • >>   I2C_Master_ADD10 -
                                                                                                                            • >>   I2C_MasterTransmit_TXE -
                                                                                                                            • >>   I2C_MasterTransmit_BTF -
                                                                                                                            • >>   I2C_MasterReceive_RXNE -
                                                                                                                            • >>   I2C_MasterReceive_BTF -
                                                                                                                            • >>   I2C_ConvertOtherXferOptions +
                                                                                                                              [Calls]
                                                                                                                              • >>   I2C_Slave_STOPF +
                                                                                                                              • >>   I2C_Slave_ADDR +
                                                                                                                              • >>   I2C_SlaveTransmit_TXE +
                                                                                                                              • >>   I2C_SlaveTransmit_BTF +
                                                                                                                              • >>   I2C_SlaveReceive_RXNE +
                                                                                                                              • >>   I2C_SlaveReceive_BTF +
                                                                                                                              • >>   I2C_MemoryTransmit_TXE_BTF +
                                                                                                                              • >>   I2C_Master_SB +
                                                                                                                              • >>   I2C_Master_ADDR +
                                                                                                                              • >>   I2C_Master_ADD10 +
                                                                                                                              • >>   I2C_MasterTransmit_TXE +
                                                                                                                              • >>   I2C_MasterTransmit_BTF +
                                                                                                                              • >>   I2C_MasterReceive_RXNE +
                                                                                                                              • >>   I2C_MasterReceive_BTF +
                                                                                                                              • >>   I2C_ConvertOtherXferOptions

                                                                                                                              [Called By]
                                                                                                                              • >>   I2C1_EV_IRQHandler
                                                                                                                              -

                                                                                                                              HAL_I2C_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_ErrorCallback)) +

                                                                                                                              HAL_I2C_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_ErrorCallback))

                                                                                                                              [Stack]

                                                                                                                              • Max Depth = 24
                                                                                                                              • Call Chain = HAL_I2C_ErrorCallback ⇒ I2C_Get
                                                                                                                              -
                                                                                                                              [Calls]
                                                                                                                              • >>   I2C_Get +
                                                                                                                                [Calls]
                                                                                                                                • >>   I2C_Get
                                                                                                                                -
                                                                                                                                [Called By]
                                                                                                                                • >>   I2C_MasterReceive_RXNE -
                                                                                                                                • >>   I2C_ITError +
                                                                                                                                  [Called By]
                                                                                                                                  • >>   I2C_MasterReceive_RXNE +
                                                                                                                                  • >>   I2C_ITError
                                                                                                                                  • >>   I2C_DMAAbort
                                                                                                                                  -

                                                                                                                                  HAL_I2C_Init (Thumb, 676 bytes, Stack size 64 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)) +

                                                                                                                                  HAL_I2C_Init (Thumb, 676 bytes, Stack size 64 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init))

                                                                                                                                  [Stack]

                                                                                                                                  • Max Depth = 192
                                                                                                                                  • Call Chain = HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                  -
                                                                                                                                  [Calls]
                                                                                                                                  • >>   HAL_RCC_GetPCLK1Freq -
                                                                                                                                  • >>   HAL_I2C_MspInit +
                                                                                                                                    [Calls]
                                                                                                                                    • >>   HAL_RCC_GetPCLK1Freq +
                                                                                                                                    • >>   HAL_I2C_MspInit
                                                                                                                                    -
                                                                                                                                    [Called By]
                                                                                                                                    • >>   MX_I2C2_Init -
                                                                                                                                    • >>   MX_I2C1_Init +
                                                                                                                                      [Called By]
                                                                                                                                      • >>   MX_I2C2_Init +
                                                                                                                                      • >>   MX_I2C1_Init
                                                                                                                                      -

                                                                                                                                      HAL_I2C_ListenCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_ListenCpltCallback)) +

                                                                                                                                      HAL_I2C_ListenCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_ListenCpltCallback))

                                                                                                                                      [Stack]

                                                                                                                                      • Max Depth = 24
                                                                                                                                      • Call Chain = HAL_I2C_ListenCpltCallback ⇒ I2C_Get
                                                                                                                                      -
                                                                                                                                      [Calls]
                                                                                                                                      • >>   I2C_Get +
                                                                                                                                        [Calls]
                                                                                                                                        • >>   I2C_Get
                                                                                                                                        -
                                                                                                                                        [Called By]
                                                                                                                                        • >>   I2C_Slave_STOPF -
                                                                                                                                        • >>   I2C_Slave_AF -
                                                                                                                                        • >>   I2C_ITError +
                                                                                                                                          [Called By]
                                                                                                                                          • >>   I2C_Slave_STOPF +
                                                                                                                                          • >>   I2C_Slave_AF +
                                                                                                                                          • >>   I2C_ITError
                                                                                                                                          -

                                                                                                                                          HAL_I2C_MasterRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback)) +

                                                                                                                                          HAL_I2C_MasterRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback))

                                                                                                                                          [Stack]

                                                                                                                                          • Max Depth = 24
                                                                                                                                          • Call Chain = HAL_I2C_MasterRxCpltCallback ⇒ I2C_Get
                                                                                                                                          -
                                                                                                                                          [Calls]
                                                                                                                                          • >>   I2C_Get +
                                                                                                                                            [Calls]
                                                                                                                                            • >>   I2C_Get
                                                                                                                                            -
                                                                                                                                            [Called By]
                                                                                                                                            • >>   I2C_MasterReceive_RXNE -
                                                                                                                                            • >>   I2C_MasterReceive_BTF +
                                                                                                                                              [Called By]
                                                                                                                                              • >>   I2C_MasterReceive_RXNE +
                                                                                                                                              • >>   I2C_MasterReceive_BTF
                                                                                                                                              -

                                                                                                                                              HAL_I2C_MasterTxCpltCallback (Thumb, 80 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback)) +

                                                                                                                                              HAL_I2C_MasterTxCpltCallback (Thumb, 80 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback))

                                                                                                                                              [Stack]

                                                                                                                                              • Max Depth = 24
                                                                                                                                              • Call Chain = HAL_I2C_MasterTxCpltCallback ⇒ I2C_Get
                                                                                                                                              -
                                                                                                                                              [Calls]
                                                                                                                                              • >>   I2C_Get +
                                                                                                                                                [Calls]
                                                                                                                                                • >>   I2C_Get
                                                                                                                                                -
                                                                                                                                                [Called By]
                                                                                                                                                • >>   I2C_MasterTransmit_TXE -
                                                                                                                                                • >>   I2C_MasterTransmit_BTF +
                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   I2C_MasterTransmit_TXE +
                                                                                                                                                  • >>   I2C_MasterTransmit_BTF
                                                                                                                                                  -

                                                                                                                                                  HAL_I2C_MemRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MemRxCpltCallback)) +

                                                                                                                                                  HAL_I2C_MemRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MemRxCpltCallback))

                                                                                                                                                  [Stack]

                                                                                                                                                  • Max Depth = 24
                                                                                                                                                  • Call Chain = HAL_I2C_MemRxCpltCallback ⇒ I2C_Get
                                                                                                                                                  -
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   I2C_Get +
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   I2C_Get
                                                                                                                                                    -
                                                                                                                                                    [Called By]
                                                                                                                                                    • >>   I2C_MasterReceive_RXNE -
                                                                                                                                                    • >>   I2C_MasterReceive_BTF +
                                                                                                                                                      [Called By]
                                                                                                                                                      • >>   I2C_MasterReceive_RXNE +
                                                                                                                                                      • >>   I2C_MasterReceive_BTF
                                                                                                                                                      -

                                                                                                                                                      HAL_I2C_MemTxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MemTxCpltCallback)) +

                                                                                                                                                      HAL_I2C_MemTxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_MemTxCpltCallback))

                                                                                                                                                      [Stack]

                                                                                                                                                      • Max Depth = 24
                                                                                                                                                      • Call Chain = HAL_I2C_MemTxCpltCallback ⇒ I2C_Get
                                                                                                                                                      -
                                                                                                                                                      [Calls]
                                                                                                                                                      • >>   I2C_Get +
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   I2C_Get
                                                                                                                                                        -
                                                                                                                                                        [Called By]
                                                                                                                                                        • >>   I2C_MemoryTransmit_TXE_BTF -
                                                                                                                                                        • >>   I2C_MasterTransmit_TXE -
                                                                                                                                                        • >>   I2C_MasterTransmit_BTF +
                                                                                                                                                          [Called By]
                                                                                                                                                          • >>   I2C_MemoryTransmit_TXE_BTF +
                                                                                                                                                          • >>   I2C_MasterTransmit_TXE +
                                                                                                                                                          • >>   I2C_MasterTransmit_BTF
                                                                                                                                                          -

                                                                                                                                                          HAL_I2C_MspInit (Thumb, 308 bytes, Stack size 64 bytes, i2c.o(.text.HAL_I2C_MspInit)) +

                                                                                                                                                          HAL_I2C_MspInit (Thumb, 308 bytes, Stack size 64 bytes, i2c.o(.text.HAL_I2C_MspInit))

                                                                                                                                                          [Stack]

                                                                                                                                                          • Max Depth = 128
                                                                                                                                                          • Call Chain = HAL_I2C_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                          -
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   HAL_NVIC_SetPriority +
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   HAL_NVIC_SetPriority
                                                                                                                                                            • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                            • >>   HAL_GPIO_Init +
                                                                                                                                                            • >>   HAL_GPIO_Init
                                                                                                                                                            -
                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   HAL_I2C_Init +
                                                                                                                                                              [Called By]
                                                                                                                                                              • >>   HAL_I2C_Init
                                                                                                                                                              -

                                                                                                                                                              HAL_I2C_SlaveRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback)) +

                                                                                                                                                              HAL_I2C_SlaveRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback))

                                                                                                                                                              [Stack]

                                                                                                                                                              • Max Depth = 24
                                                                                                                                                              • Call Chain = HAL_I2C_SlaveRxCpltCallback ⇒ I2C_Get
                                                                                                                                                              -
                                                                                                                                                              [Calls]
                                                                                                                                                              • >>   I2C_Get +
                                                                                                                                                                [Calls]
                                                                                                                                                                • >>   I2C_Get
                                                                                                                                                                -
                                                                                                                                                                [Called By]
                                                                                                                                                                • >>   I2C_Slave_STOPF -
                                                                                                                                                                • >>   I2C_SlaveReceive_RXNE +
                                                                                                                                                                  [Called By]
                                                                                                                                                                  • >>   I2C_Slave_STOPF +
                                                                                                                                                                  • >>   I2C_SlaveReceive_RXNE
                                                                                                                                                                  -

                                                                                                                                                                  HAL_I2C_SlaveTxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback)) +

                                                                                                                                                                  HAL_I2C_SlaveTxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback))

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 24
                                                                                                                                                                  • Call Chain = HAL_I2C_SlaveTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   I2C_Get +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   I2C_Get
                                                                                                                                                                    -
                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   I2C_Slave_AF -
                                                                                                                                                                    • >>   I2C_SlaveTransmit_TXE +
                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   I2C_Slave_AF +
                                                                                                                                                                      • >>   I2C_SlaveTransmit_TXE

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

                                                                                                                                                                      [Called By]

                                                                                                                                                                      • >>   SysTick_Handler
                                                                                                                                                                      -

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

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

                                                                                                                                                                      [Stack]

                                                                                                                                                                      • Max Depth = 88
                                                                                                                                                                      • Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                      -
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   HAL_NVIC_SetPriorityGrouping -
                                                                                                                                                                      • >>   HAL_InitTick -
                                                                                                                                                                      • >>   HAL_MspInit +
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   HAL_NVIC_SetPriorityGrouping +
                                                                                                                                                                        • >>   HAL_InitTick +
                                                                                                                                                                        • >>   HAL_MspInit

                                                                                                                                                                        [Called By]
                                                                                                                                                                        • >>   main
                                                                                                                                                                        -

                                                                                                                                                                        HAL_InitTick (Thumb, 112 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick)) +

                                                                                                                                                                        HAL_InitTick (Thumb, 112 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick))

                                                                                                                                                                        [Stack]

                                                                                                                                                                        • Max Depth = 80
                                                                                                                                                                        • Call Chain = HAL_InitTick ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                        -
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   HAL_SYSTICK_Config -
                                                                                                                                                                        • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                          [Calls]
                                                                                                                                                                          • >>   HAL_SYSTICK_Config +
                                                                                                                                                                          • >>   HAL_NVIC_SetPriority
                                                                                                                                                                          -
                                                                                                                                                                          [Called By]
                                                                                                                                                                          • >>   HAL_RCC_ClockConfig -
                                                                                                                                                                          • >>   HAL_Init +
                                                                                                                                                                            [Called By]
                                                                                                                                                                            • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                            • >>   HAL_Init
                                                                                                                                                                            -

                                                                                                                                                                            HAL_MspInit (Thumb, 88 bytes, Stack size 16 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit)) +

                                                                                                                                                                            HAL_MspInit (Thumb, 88 bytes, Stack size 16 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit))

                                                                                                                                                                            [Stack]

                                                                                                                                                                            • Max Depth = 80
                                                                                                                                                                            • Call Chain = HAL_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                            -
                                                                                                                                                                            [Calls]
                                                                                                                                                                            • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                              [Calls]
                                                                                                                                                                              • >>   HAL_NVIC_SetPriority
                                                                                                                                                                              -
                                                                                                                                                                              [Called By]
                                                                                                                                                                              • >>   HAL_Init +
                                                                                                                                                                                [Called By]
                                                                                                                                                                                • >>   HAL_Init

                                                                                                                                                                                HAL_NVIC_DisableIRQ (Thumb, 20 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ))

                                                                                                                                                                                [Stack]

                                                                                                                                                                                • Max Depth = 20
                                                                                                                                                                                • Call Chain = HAL_NVIC_DisableIRQ ⇒ __NVIC_DisableIRQ
                                                                                                                                                                                -
                                                                                                                                                                                [Calls]
                                                                                                                                                                                • >>   __NVIC_DisableIRQ +
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   __NVIC_DisableIRQ

                                                                                                                                                                                  [Called By]
                                                                                                                                                                                  • >>   BSP_GPIO_DisableIRQ
                                                                                                                                                                                  @@ -1827,83 +1803,83 @@ Global Symbols

                                                                                                                                                                                  HAL_NVIC_EnableIRQ (Thumb, 20 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ))

                                                                                                                                                                                  [Stack]

                                                                                                                                                                                  • Max Depth = 20
                                                                                                                                                                                  • Call Chain = HAL_NVIC_EnableIRQ ⇒ __NVIC_EnableIRQ
                                                                                                                                                                                  -
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   __NVIC_EnableIRQ +
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   __NVIC_EnableIRQ
                                                                                                                                                                                    -
                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   HAL_UART_MspInit -
                                                                                                                                                                                    • >>   HAL_TIM_Base_MspInit -
                                                                                                                                                                                    • >>   HAL_I2C_MspInit -
                                                                                                                                                                                    • >>   HAL_CAN_MspInit -
                                                                                                                                                                                    • >>   MX_GPIO_Init -
                                                                                                                                                                                    • >>   MX_DMA_Init +
                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   HAL_UART_MspInit +
                                                                                                                                                                                      • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                                                      • >>   HAL_I2C_MspInit +
                                                                                                                                                                                      • >>   HAL_CAN_MspInit +
                                                                                                                                                                                      • >>   MX_GPIO_Init +
                                                                                                                                                                                      • >>   MX_DMA_Init
                                                                                                                                                                                      • >>   BSP_GPIO_EnableIRQ
                                                                                                                                                                                      -

                                                                                                                                                                                      HAL_NVIC_SetPriority (Thumb, 50 bytes, Stack size 32 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)) +

                                                                                                                                                                                      HAL_NVIC_SetPriority (Thumb, 50 bytes, Stack size 32 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))

                                                                                                                                                                                      [Stack]

                                                                                                                                                                                      • Max Depth = 64
                                                                                                                                                                                      • Call Chain = HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                      -
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   __NVIC_SetPriority -
                                                                                                                                                                                      • >>   __NVIC_GetPriorityGrouping -
                                                                                                                                                                                      • >>   NVIC_EncodePriority +
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   __NVIC_SetPriority +
                                                                                                                                                                                        • >>   __NVIC_GetPriorityGrouping +
                                                                                                                                                                                        • >>   NVIC_EncodePriority
                                                                                                                                                                                        -
                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   HAL_InitTick -
                                                                                                                                                                                        • >>   HAL_MspInit -
                                                                                                                                                                                        • >>   HAL_UART_MspInit -
                                                                                                                                                                                        • >>   HAL_TIM_Base_MspInit -
                                                                                                                                                                                        • >>   HAL_I2C_MspInit -
                                                                                                                                                                                        • >>   HAL_CAN_MspInit -
                                                                                                                                                                                        • >>   MX_GPIO_Init -
                                                                                                                                                                                        • >>   MX_DMA_Init +
                                                                                                                                                                                          [Called By]
                                                                                                                                                                                          • >>   HAL_InitTick +
                                                                                                                                                                                          • >>   HAL_MspInit +
                                                                                                                                                                                          • >>   HAL_UART_MspInit +
                                                                                                                                                                                          • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                                                          • >>   HAL_I2C_MspInit +
                                                                                                                                                                                          • >>   HAL_CAN_MspInit +
                                                                                                                                                                                          • >>   MX_GPIO_Init +
                                                                                                                                                                                          • >>   MX_DMA_Init
                                                                                                                                                                                          -

                                                                                                                                                                                          HAL_NVIC_SetPriorityGrouping (Thumb, 16 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)) +

                                                                                                                                                                                          HAL_NVIC_SetPriorityGrouping (Thumb, 16 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping))

                                                                                                                                                                                          [Stack]

                                                                                                                                                                                          • Max Depth = 28
                                                                                                                                                                                          • Call Chain = HAL_NVIC_SetPriorityGrouping ⇒ __NVIC_SetPriorityGrouping
                                                                                                                                                                                          -
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   __NVIC_SetPriorityGrouping +
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   __NVIC_SetPriorityGrouping
                                                                                                                                                                                            -
                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   HAL_Init +
                                                                                                                                                                                              [Called By]
                                                                                                                                                                                              • >>   HAL_Init
                                                                                                                                                                                              -

                                                                                                                                                                                              HAL_RCC_ClockConfig (Thumb, 610 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)) +

                                                                                                                                                                                              HAL_RCC_ClockConfig (Thumb, 610 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))

                                                                                                                                                                                              [Stack]

                                                                                                                                                                                              • Max Depth = 104
                                                                                                                                                                                              • Call Chain = HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
                                                                                                                                                                                              -
                                                                                                                                                                                              [Calls]
                                                                                                                                                                                              • >>   HAL_RCC_GetSysClockFreq -
                                                                                                                                                                                              • >>   HAL_InitTick +
                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                • >>   HAL_RCC_GetSysClockFreq +
                                                                                                                                                                                                • >>   HAL_InitTick
                                                                                                                                                                                                • >>   HAL_GetTick

                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                • >>   SystemClock_Config
                                                                                                                                                                                                -

                                                                                                                                                                                                HAL_RCC_GetHCLKFreq (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)) -

                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                • >>   HAL_RCC_GetPCLK2Freq -
                                                                                                                                                                                                • >>   HAL_RCC_GetPCLK1Freq +

                                                                                                                                                                                                  HAL_RCC_GetHCLKFreq (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)) +

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   HAL_RCC_GetPCLK2Freq +
                                                                                                                                                                                                  • >>   HAL_RCC_GetPCLK1Freq
                                                                                                                                                                                                  -

                                                                                                                                                                                                  HAL_RCC_GetPCLK1Freq (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)) +

                                                                                                                                                                                                  HAL_RCC_GetPCLK1Freq (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 8
                                                                                                                                                                                                  • Call Chain = HAL_RCC_GetPCLK1Freq
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                  • >>   HAL_RCC_GetHCLKFreq +
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   HAL_RCC_GetHCLKFreq
                                                                                                                                                                                                    -
                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                    • >>   HAL_I2C_Init -
                                                                                                                                                                                                    • >>   UART_SetConfig +
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   HAL_I2C_Init +
                                                                                                                                                                                                      • >>   UART_SetConfig
                                                                                                                                                                                                      -

                                                                                                                                                                                                      HAL_RCC_GetPCLK2Freq (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)) +

                                                                                                                                                                                                      HAL_RCC_GetPCLK2Freq (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq))

                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                      • Call Chain = HAL_RCC_GetPCLK2Freq
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   HAL_RCC_GetHCLKFreq +
                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                        • >>   HAL_RCC_GetHCLKFreq
                                                                                                                                                                                                        -
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   UART_SetConfig +
                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                          • >>   UART_SetConfig
                                                                                                                                                                                                          -

                                                                                                                                                                                                          HAL_RCC_GetSysClockFreq (Thumb, 230 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)) +

                                                                                                                                                                                                          HAL_RCC_GetSysClockFreq (Thumb, 230 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))

                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                          • Max Depth = 80
                                                                                                                                                                                                          • Call Chain = HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
                                                                                                                                                                                                          -
                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                          • >>   __aeabi_uldivmod +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   __aeabi_uldivmod
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   HAL_RCC_ClockConfig
                                                                                                                                                                                                              -

                                                                                                                                                                                                              HAL_RCC_OscConfig (Thumb, 1726 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)) +

                                                                                                                                                                                                              HAL_RCC_OscConfig (Thumb, 1726 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))

                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                              • Max Depth = 32
                                                                                                                                                                                                              • Call Chain = HAL_RCC_OscConfig

                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   HAL_GetTick @@ -1911,10 +1887,10 @@ Global Symbols
                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   SystemClock_Config
                                                                                                                                                                                                                -

                                                                                                                                                                                                                HAL_SPI_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_ErrorCallback)) +

                                                                                                                                                                                                                HAL_SPI_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_ErrorCallback))

                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                                                                • Call Chain = HAL_SPI_ErrorCallback ⇒ SPI_Get
                                                                                                                                                                                                                -
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   SPI_Get +
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   SPI_Get

                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   SPI_DMATransmitReceiveCplt
                                                                                                                                                                                                                  • >>   SPI_DMATransmitCplt @@ -1922,31 +1898,31 @@ Global Symbols
                                                                                                                                                                                                                  • >>   SPI_DMAError
                                                                                                                                                                                                                  -

                                                                                                                                                                                                                  HAL_SPI_Init (Thumb, 256 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)) +

                                                                                                                                                                                                                  HAL_SPI_Init (Thumb, 256 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init))

                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                  • Max Depth = 160
                                                                                                                                                                                                                  • Call Chain = HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
                                                                                                                                                                                                                  -
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   HAL_SPI_MspInit +
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   HAL_SPI_MspInit
                                                                                                                                                                                                                    -
                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                    • >>   MX_SPI2_Init -
                                                                                                                                                                                                                    • >>   MX_SPI1_Init +
                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                      • >>   MX_SPI2_Init +
                                                                                                                                                                                                                      • >>   MX_SPI1_Init
                                                                                                                                                                                                                      -

                                                                                                                                                                                                                      HAL_SPI_MspInit (Thumb, 528 bytes, Stack size 80 bytes, spi.o(.text.HAL_SPI_MspInit)) +

                                                                                                                                                                                                                      HAL_SPI_MspInit (Thumb, 528 bytes, Stack size 80 bytes, spi.o(.text.HAL_SPI_MspInit))

                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                      • Max Depth = 136
                                                                                                                                                                                                                      • Call Chain = HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
                                                                                                                                                                                                                      -
                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                      • >>   HAL_DMA_Init -
                                                                                                                                                                                                                      • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                      • >>   Error_Handler +
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   HAL_DMA_Init +
                                                                                                                                                                                                                        • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                        • >>   Error_Handler
                                                                                                                                                                                                                        -
                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   HAL_SPI_Init +
                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   HAL_SPI_Init

                                                                                                                                                                                                                          HAL_SPI_Receive (Thumb, 590 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive))

                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                          • Max Depth = 176
                                                                                                                                                                                                                          • Call Chain = HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   HAL_GetTick -
                                                                                                                                                                                                                          • >>   HAL_SPI_TransmitReceive -
                                                                                                                                                                                                                          • >>   SPI_EndRxTransaction +
                                                                                                                                                                                                                          • >>   HAL_SPI_TransmitReceive +
                                                                                                                                                                                                                          • >>   SPI_EndRxTransaction

                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   BSP_SPI_Receive
                                                                                                                                                                                                                          @@ -1954,24 +1930,24 @@ Global Symbols

                                                                                                                                                                                                                          HAL_SPI_Receive_DMA (Thumb, 408 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA))

                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                          • Max Depth = 120
                                                                                                                                                                                                                          • Call Chain = HAL_SPI_Receive_DMA ⇒ HAL_SPI_TransmitReceive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                                                                                                                                          -
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   HAL_DMA_Start_IT -
                                                                                                                                                                                                                          • >>   HAL_SPI_TransmitReceive_DMA +
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                            • >>   HAL_SPI_TransmitReceive_DMA

                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   BSP_SPI_Receive
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            HAL_SPI_RxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_RxCpltCallback)) +

                                                                                                                                                                                                                            HAL_SPI_RxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_RxCpltCallback))

                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                            • Call Chain = HAL_SPI_RxCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                            -
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   SPI_Get +
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   SPI_Get

                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   SPI_DMAReceiveCplt
                                                                                                                                                                                                                              -

                                                                                                                                                                                                                              HAL_SPI_RxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)) +

                                                                                                                                                                                                                              HAL_SPI_RxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_RxHalfCpltCallback))

                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                              • Max Depth = 24
                                                                                                                                                                                                                              • Call Chain = HAL_SPI_RxHalfCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                              -
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   SPI_Get +
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   SPI_Get

                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   SPI_DMAHalfReceiveCplt
                                                                                                                                                                                                                                @@ -1980,24 +1956,24 @@ Global Symbols

                                                                                                                                                                                                                                [Stack]
                                                                                                                                                                                                                                • Max Depth = 120
                                                                                                                                                                                                                                • Call Chain = HAL_SPI_Transmit ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

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

                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   BSP_SPI_Transmit
                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                HAL_SPI_TransmitReceive (Thumb, 930 bytes, Stack size 56 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)) +

                                                                                                                                                                                                                                HAL_SPI_TransmitReceive (Thumb, 930 bytes, Stack size 56 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive))

                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                • Max Depth = 136
                                                                                                                                                                                                                                • Call Chain = HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

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

                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   HAL_SPI_Receive
                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                HAL_SPI_TransmitReceive_DMA (Thumb, 532 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)) +

                                                                                                                                                                                                                                HAL_SPI_TransmitReceive_DMA (Thumb, 532 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA))

                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                • Max Depth = 96
                                                                                                                                                                                                                                • Call Chain = HAL_SPI_TransmitReceive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   HAL_DMA_Start_IT

                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   HAL_SPI_Receive_DMA
                                                                                                                                                                                                                                  @@ -2005,204 +1981,204 @@ Global Symbols

                                                                                                                                                                                                                                  HAL_SPI_Transmit_DMA (Thumb, 364 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA))

                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                  • Max Depth = 80
                                                                                                                                                                                                                                  • Call Chain = HAL_SPI_Transmit_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   HAL_DMA_Start_IT

                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   BSP_SPI_Transmit
                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                    HAL_SPI_TxCpltCallback (Thumb, 72 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxCpltCallback)) +

                                                                                                                                                                                                                                    HAL_SPI_TxCpltCallback (Thumb, 72 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxCpltCallback))

                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                                    • Call Chain = HAL_SPI_TxCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   SPI_Get +
                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                      • >>   SPI_Get

                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                      • >>   SPI_DMATransmitCplt
                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                      HAL_SPI_TxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)) +

                                                                                                                                                                                                                                      HAL_SPI_TxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxHalfCpltCallback))

                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                      • Max Depth = 24
                                                                                                                                                                                                                                      • Call Chain = HAL_SPI_TxHalfCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                      • >>   SPI_Get +
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   SPI_Get

                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   SPI_DMAHalfTransmitCplt
                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                        HAL_SPI_TxRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxRxCpltCallback)) +

                                                                                                                                                                                                                                        HAL_SPI_TxRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxRxCpltCallback))

                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                        • Max Depth = 24
                                                                                                                                                                                                                                        • Call Chain = HAL_SPI_TxRxCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   SPI_Get +
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   SPI_Get

                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                          • >>   SPI_DMATransmitReceiveCplt
                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                          HAL_SPI_TxRxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)) +

                                                                                                                                                                                                                                          HAL_SPI_TxRxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback))

                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                          • Max Depth = 24
                                                                                                                                                                                                                                          • Call Chain = HAL_SPI_TxRxHalfCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   SPI_Get +
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   SPI_Get

                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   SPI_DMAHalfTransmitReceiveCplt
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            HAL_SYSTICK_Config (Thumb, 16 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)) +

                                                                                                                                                                                                                                            HAL_SYSTICK_Config (Thumb, 16 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config))

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 40
                                                                                                                                                                                                                                            • Call Chain = HAL_SYSTICK_Config ⇒ SysTick_Config ⇒ __NVIC_SetPriority
                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   SysTick_Config +
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   SysTick_Config
                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   HAL_InitTick +
                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                • >>   HAL_InitTick
                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                HAL_TIMEx_BreakCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)) +

                                                                                                                                                                                                                                                HAL_TIMEx_BreakCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback))

                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                • Max Depth = 4
                                                                                                                                                                                                                                                • Call Chain = HAL_TIMEx_BreakCallback
                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                  • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                  HAL_TIMEx_CommutCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)) +

                                                                                                                                                                                                                                                  HAL_TIMEx_CommutCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback))

                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                  • Call Chain = HAL_TIMEx_CommutCallback
                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                  • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                    • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                    HAL_TIMEx_MasterConfigSynchronization (Thumb, 290 bytes, Stack size 20 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)) +

                                                                                                                                                                                                                                                    HAL_TIMEx_MasterConfigSynchronization (Thumb, 290 bytes, Stack size 20 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))

                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                    • Max Depth = 20
                                                                                                                                                                                                                                                    • Call Chain = HAL_TIMEx_MasterConfigSynchronization
                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                    • >>   MX_TIM7_Init +
                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                      • >>   MX_TIM7_Init
                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                      HAL_TIM_Base_Init (Thumb, 156 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)) +

                                                                                                                                                                                                                                                      HAL_TIM_Base_Init (Thumb, 156 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init))

                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                      • Max Depth = 104
                                                                                                                                                                                                                                                      • Call Chain = HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                      • >>   HAL_TIM_Base_MspInit -
                                                                                                                                                                                                                                                      • >>   TIM_Base_SetConfig +
                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                        • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                                                                                                                        • >>   TIM_Base_SetConfig
                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   MX_TIM7_Init -
                                                                                                                                                                                                                                                        • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                          • >>   MX_TIM7_Init +
                                                                                                                                                                                                                                                          • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                          HAL_TIM_Base_MspInit (Thumb, 138 bytes, Stack size 24 bytes, tim.o(.text.HAL_TIM_Base_MspInit)) +

                                                                                                                                                                                                                                                          HAL_TIM_Base_MspInit (Thumb, 138 bytes, Stack size 24 bytes, tim.o(.text.HAL_TIM_Base_MspInit))

                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                          • Max Depth = 88
                                                                                                                                                                                                                                                          • Call Chain = HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                            • >>   HAL_NVIC_EnableIRQ
                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                            • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                              • >>   HAL_TIM_Base_Init
                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                              HAL_TIM_IC_CaptureCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)) +

                                                                                                                                                                                                                                                              HAL_TIM_IC_CaptureCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback))

                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                              • Max Depth = 4
                                                                                                                                                                                                                                                              • Call Chain = HAL_TIM_IC_CaptureCallback
                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                              • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                HAL_TIM_IRQHandler (Thumb, 538 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)) +

                                                                                                                                                                                                                                                                HAL_TIM_IRQHandler (Thumb, 538 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler))

                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                • Max Depth = 28
                                                                                                                                                                                                                                                                • Call Chain = HAL_TIM_IRQHandler ⇒ HAL_TIM_TriggerCallback
                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                • >>   HAL_TIM_TriggerCallback -
                                                                                                                                                                                                                                                                • >>   HAL_TIM_PeriodElapsedCallback -
                                                                                                                                                                                                                                                                • >>   HAL_TIM_PWM_PulseFinishedCallback -
                                                                                                                                                                                                                                                                • >>   HAL_TIM_OC_DelayElapsedCallback -
                                                                                                                                                                                                                                                                • >>   HAL_TIM_IC_CaptureCallback -
                                                                                                                                                                                                                                                                • >>   HAL_TIMEx_CommutCallback -
                                                                                                                                                                                                                                                                • >>   HAL_TIMEx_BreakCallback +
                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                  • >>   HAL_TIM_TriggerCallback +
                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PWM_PulseFinishedCallback +
                                                                                                                                                                                                                                                                  • >>   HAL_TIM_OC_DelayElapsedCallback +
                                                                                                                                                                                                                                                                  • >>   HAL_TIM_IC_CaptureCallback +
                                                                                                                                                                                                                                                                  • >>   HAL_TIMEx_CommutCallback +
                                                                                                                                                                                                                                                                  • >>   HAL_TIMEx_BreakCallback

                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                  • >>   TIM7_IRQHandler
                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                  HAL_TIM_MspPostInit (Thumb, 108 bytes, Stack size 40 bytes, tim.o(.text.HAL_TIM_MspPostInit)) +

                                                                                                                                                                                                                                                                  HAL_TIM_MspPostInit (Thumb, 108 bytes, Stack size 40 bytes, tim.o(.text.HAL_TIM_MspPostInit))

                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                  • Max Depth = 96
                                                                                                                                                                                                                                                                  • Call Chain = HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                  • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                    • >>   HAL_GPIO_Init
                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                    • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                      • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                      HAL_TIM_OC_DelayElapsedCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)) +

                                                                                                                                                                                                                                                                      HAL_TIM_OC_DelayElapsedCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback))

                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                      • Max Depth = 4
                                                                                                                                                                                                                                                                      • Call Chain = HAL_TIM_OC_DelayElapsedCallback
                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                      • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                        • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                        HAL_TIM_PWM_ConfigChannel (Thumb, 322 bytes, Stack size 32 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)) +

                                                                                                                                                                                                                                                                        HAL_TIM_PWM_ConfigChannel (Thumb, 322 bytes, Stack size 32 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))

                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                        • Max Depth = 52
                                                                                                                                                                                                                                                                        • Call Chain = HAL_TIM_PWM_ConfigChannel ⇒ TIM_OC2_SetConfig
                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                        • >>   TIM_OC2_SetConfig -
                                                                                                                                                                                                                                                                        • >>   TIM_OC4_SetConfig -
                                                                                                                                                                                                                                                                        • >>   TIM_OC3_SetConfig -
                                                                                                                                                                                                                                                                        • >>   TIM_OC1_SetConfig +
                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                          • >>   TIM_OC2_SetConfig +
                                                                                                                                                                                                                                                                          • >>   TIM_OC4_SetConfig +
                                                                                                                                                                                                                                                                          • >>   TIM_OC3_SetConfig +
                                                                                                                                                                                                                                                                          • >>   TIM_OC1_SetConfig
                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                          • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                            • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                            HAL_TIM_PWM_Init (Thumb, 156 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)) +

                                                                                                                                                                                                                                                                            HAL_TIM_PWM_Init (Thumb, 156 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))

                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                            • Max Depth = 28
                                                                                                                                                                                                                                                                            • Call Chain = HAL_TIM_PWM_Init ⇒ TIM_Base_SetConfig
                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                            • >>   TIM_Base_SetConfig -
                                                                                                                                                                                                                                                                            • >>   HAL_TIM_PWM_MspInit +
                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                              • >>   TIM_Base_SetConfig +
                                                                                                                                                                                                                                                                              • >>   HAL_TIM_PWM_MspInit
                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                              • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                HAL_TIM_PWM_MspInit (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)) +

                                                                                                                                                                                                                                                                                HAL_TIM_PWM_MspInit (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit))

                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                • Max Depth = 4
                                                                                                                                                                                                                                                                                • Call Chain = HAL_TIM_PWM_MspInit
                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PWM_Init
                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                  HAL_TIM_PWM_PulseFinishedCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)) +

                                                                                                                                                                                                                                                                                  HAL_TIM_PWM_PulseFinishedCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback))

                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                                                  • Call Chain = HAL_TIM_PWM_PulseFinishedCallback
                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_IRQHandler

                                                                                                                                                                                                                                                                                    HAL_TIM_PWM_Start (Thumb, 458 bytes, Stack size 56 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start))

                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                    • Max Depth = 72
                                                                                                                                                                                                                                                                                    • Call Chain = HAL_TIM_PWM_Start ⇒ TIM_CCxChannelCmd
                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                    • >>   TIM_CCxChannelCmd +
                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                      • >>   TIM_CCxChannelCmd

                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                      • >>   BSP_PWM_Start
                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                      HAL_TIM_PeriodElapsedCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)) +

                                                                                                                                                                                                                                                                                      HAL_TIM_PeriodElapsedCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback))

                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                      • Max Depth = 4
                                                                                                                                                                                                                                                                                      • Call Chain = HAL_TIM_PeriodElapsedCallback
                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                        HAL_TIM_TriggerCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)) +

                                                                                                                                                                                                                                                                                        HAL_TIM_TriggerCallback (Thumb, 8 bytes, Stack size 4 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback))

                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                        • Max Depth = 4
                                                                                                                                                                                                                                                                                        • Call Chain = HAL_TIM_TriggerCallback
                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                          HAL_UARTEx_RxEventCallback (Thumb, 12 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)) +

                                                                                                                                                                                                                                                                                          HAL_UARTEx_RxEventCallback (Thumb, 12 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback))

                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                          • Call Chain = HAL_UARTEx_RxEventCallback
                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                          • >>   HAL_UART_IRQHandler -
                                                                                                                                                                                                                                                                                          • >>   UART_Receive_IT +
                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                            • >>   UART_Receive_IT
                                                                                                                                                                                                                                                                                            • >>   UART_DMARxHalfCplt
                                                                                                                                                                                                                                                                                            • >>   UART_DMAReceiveCplt
                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                            HAL_UART_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_ErrorCallback)) +

                                                                                                                                                                                                                                                                                            HAL_UART_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_ErrorCallback))

                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                                                                                            • Call Chain = HAL_UART_ErrorCallback ⇒ UART_Get

                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                            • >>   UART_Get
                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                              • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                              • >>   UART_DMAError
                                                                                                                                                                                                                                                                                              • >>   UART_DMAAbortOnError
                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                              HAL_UART_IRQHandler (Thumb, 1116 bytes, Stack size 80 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)) +

                                                                                                                                                                                                                                                                                              HAL_UART_IRQHandler (Thumb, 1116 bytes, Stack size 80 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler))

                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                              • Max Depth = 136
                                                                                                                                                                                                                                                                                              • Call Chain = HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                              • >>   HAL_DMA_Abort_IT -
                                                                                                                                                                                                                                                                                              • >>   HAL_DMA_Abort -
                                                                                                                                                                                                                                                                                              • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                              • >>   UART_Transmit_IT -
                                                                                                                                                                                                                                                                                              • >>   UART_Receive_IT -
                                                                                                                                                                                                                                                                                              • >>   UART_EndTransmit_IT -
                                                                                                                                                                                                                                                                                              • >>   UART_EndRxTransfer -
                                                                                                                                                                                                                                                                                              • >>   HAL_UART_ErrorCallback +
                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                • >>   HAL_DMA_Abort_IT +
                                                                                                                                                                                                                                                                                                • >>   HAL_DMA_Abort +
                                                                                                                                                                                                                                                                                                • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                • >>   UART_Transmit_IT +
                                                                                                                                                                                                                                                                                                • >>   UART_Receive_IT +
                                                                                                                                                                                                                                                                                                • >>   UART_EndTransmit_IT +
                                                                                                                                                                                                                                                                                                • >>   UART_EndRxTransfer +
                                                                                                                                                                                                                                                                                                • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                • >>   USART6_IRQHandler
                                                                                                                                                                                                                                                                                                • >>   USART3_IRQHandler @@ -2210,34 +2186,34 @@ Global Symbols
                                                                                                                                                                                                                                                                                                • >>   USART1_IRQHandler
                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                HAL_UART_Init (Thumb, 158 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init)) +

                                                                                                                                                                                                                                                                                                HAL_UART_Init (Thumb, 158 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init))

                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                • Max Depth = 224
                                                                                                                                                                                                                                                                                                • Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                • >>   HAL_UART_MspInit -
                                                                                                                                                                                                                                                                                                • >>   UART_SetConfig +
                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_MspInit +
                                                                                                                                                                                                                                                                                                  • >>   UART_SetConfig
                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                  • >>   MX_USART6_UART_Init -
                                                                                                                                                                                                                                                                                                  • >>   MX_USART3_UART_Init -
                                                                                                                                                                                                                                                                                                  • >>   MX_USART2_UART_Init -
                                                                                                                                                                                                                                                                                                  • >>   MX_USART1_UART_Init +
                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                    • >>   MX_USART6_UART_Init +
                                                                                                                                                                                                                                                                                                    • >>   MX_USART3_UART_Init +
                                                                                                                                                                                                                                                                                                    • >>   MX_USART2_UART_Init +
                                                                                                                                                                                                                                                                                                    • >>   MX_USART1_UART_Init
                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                    HAL_UART_MspInit (Thumb, 1272 bytes, Stack size 144 bytes, usart.o(.text.HAL_UART_MspInit)) +

                                                                                                                                                                                                                                                                                                    HAL_UART_MspInit (Thumb, 1272 bytes, Stack size 144 bytes, usart.o(.text.HAL_UART_MspInit))

                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                    • Max Depth = 208
                                                                                                                                                                                                                                                                                                    • Call Chain = HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                    • >>   HAL_DMA_Init -
                                                                                                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                      • >>   HAL_DMA_Init +
                                                                                                                                                                                                                                                                                                      • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                      • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                                                                                                                                      • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                                                                                                      • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                      • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                                                                      • >>   Error_Handler
                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_Init

                                                                                                                                                                                                                                                                                                        HAL_UART_Receive_DMA (Thumb, 86 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA))

                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                        • Max Depth = 128
                                                                                                                                                                                                                                                                                                        • Call Chain = HAL_UART_Receive_DMA ⇒ UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                        • >>   UART_Start_Receive_DMA +
                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                          • >>   UART_Start_Receive_DMA

                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                          • >>   BSP_UART_Receive
                                                                                                                                                                                                                                                                                                          @@ -2245,21 +2221,21 @@ Global Symbols

                                                                                                                                                                                                                                                                                                          HAL_UART_Receive_IT (Thumb, 86 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_IT))

                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                          • Max Depth = 36
                                                                                                                                                                                                                                                                                                          • Call Chain = HAL_UART_Receive_IT ⇒ UART_Start_Receive_IT
                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                          • >>   UART_Start_Receive_IT +
                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                            • >>   UART_Start_Receive_IT

                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                            • >>   BSP_UART_Receive
                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                            HAL_UART_RxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_RxCpltCallback)) +

                                                                                                                                                                                                                                                                                                            HAL_UART_RxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_RxCpltCallback))

                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                                                                                                            • Call Chain = HAL_UART_RxCpltCallback ⇒ UART_Get

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

                                                                                                                                                                                                                                                                                                              HAL_UART_RxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback)) +

                                                                                                                                                                                                                                                                                                              HAL_UART_RxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback))

                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                              • Max Depth = 24
                                                                                                                                                                                                                                                                                                              • Call Chain = HAL_UART_RxHalfCpltCallback ⇒ UART_Get

                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                              • >>   UART_Get @@ -2270,7 +2246,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                HAL_UART_Transmit_DMA (Thumb, 252 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA))

                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                • Max Depth = 88
                                                                                                                                                                                                                                                                                                                • Call Chain = HAL_UART_Transmit_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                  • >>   HAL_DMA_Start_IT

                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                  • >>   BSP_UART_Transmit
                                                                                                                                                                                                                                                                                                                  @@ -2281,16 +2257,16 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                  • >>   BSP_UART_Transmit
                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                  HAL_UART_TxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_TxCpltCallback)) +

                                                                                                                                                                                                                                                                                                                  HAL_UART_TxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_TxCpltCallback))

                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                  • Max Depth = 24
                                                                                                                                                                                                                                                                                                                  • Call Chain = HAL_UART_TxCpltCallback ⇒ UART_Get

                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                  • >>   UART_Get
                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                  • >>   UART_EndTransmit_IT +
                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                    • >>   UART_EndTransmit_IT
                                                                                                                                                                                                                                                                                                                    • >>   UART_DMATransmitCplt
                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                    HAL_UART_TxHalfCpltCallback (Thumb, 80 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_TxHalfCpltCallback)) +

                                                                                                                                                                                                                                                                                                                    HAL_UART_TxHalfCpltCallback (Thumb, 80 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_TxHalfCpltCallback))

                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                                                                                                                    • Call Chain = HAL_UART_TxHalfCpltCallback ⇒ UART_Get

                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                    • >>   UART_Get @@ -2304,14 +2280,14 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                      I2C1_ER_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.I2C1_ER_IRQHandler))

                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                      • Max Depth = 104
                                                                                                                                                                                                                                                                                                                      • Call Chain = I2C1_ER_IRQHandler ⇒ HAL_I2C_ER_IRQHandler ⇒ I2C_Slave_AF ⇒ HAL_I2C_SlaveTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_ER_IRQHandler +
                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_ER_IRQHandler

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

                                                                                                                                                                                                                                                                                                                        I2C1_EV_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.I2C1_EV_IRQHandler))

                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                        • Max Depth = 120
                                                                                                                                                                                                                                                                                                                        • Call Chain = I2C1_EV_IRQHandler ⇒ HAL_I2C_EV_IRQHandler ⇒ I2C_Slave_STOPF ⇒ I2C_ITError ⇒ HAL_I2C_ListenCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_EV_IRQHandler

                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                          • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                          @@ -2322,301 +2298,301 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                        • >>   AHRS_UpdateIMU
                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                        LowPassFilter2p_Apply (Thumb, 184 bytes, Stack size 32 bytes, filter.o(.text.LowPassFilter2p_Apply)) +

                                                                                                                                                                                                                                                                                                                        LowPassFilter2p_Apply (Thumb, 184 bytes, Stack size 32 bytes, filter.o(.text.LowPassFilter2p_Apply))

                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                        • Max Depth = 48
                                                                                                                                                                                                                                                                                                                        • Call Chain = LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                        • >>   __ARM_isinff -
                                                                                                                                                                                                                                                                                                                        • >>   __ARM_isinf +
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   __ARM_isinff +
                                                                                                                                                                                                                                                                                                                          • >>   __ARM_isinf
                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_f2d
                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                          • >>   PID_Calc -
                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Reset -
                                                                                                                                                                                                                                                                                                                          • >>   Shoot_RunningFSM -
                                                                                                                                                                                                                                                                                                                          • >>   Chassis_UpdateFeedback -
                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                            • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                            • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                            • >>   Shoot_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Control
                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                            LowPassFilter2p_Init (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init)) +

                                                                                                                                                                                                                                                                                                                            LowPassFilter2p_Init (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))

                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                            • Max Depth = 76
                                                                                                                                                                                                                                                                                                                            • Call Chain = LowPassFilter2p_Init ⇒ __hardfp_tanf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_cosf +
                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_cosf
                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                              • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                              • >>   Shoot_Init -
                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                • >>   Shoot_Init +
                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                LowPassFilter2p_Reset (Thumb, 146 bytes, Stack size 24 bytes, filter.o(.text.LowPassFilter2p_Reset)) +

                                                                                                                                                                                                                                                                                                                                LowPassFilter2p_Reset (Thumb, 146 bytes, Stack size 24 bytes, filter.o(.text.LowPassFilter2p_Reset))

                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                • Max Depth = 72
                                                                                                                                                                                                                                                                                                                                • Call Chain = LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                • >>   LowPassFilter2p_Apply -
                                                                                                                                                                                                                                                                                                                                • >>   __ARM_isfinitef -
                                                                                                                                                                                                                                                                                                                                • >>   __ARM_isfinite +
                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                  • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                  • >>   __ARM_isfinitef +
                                                                                                                                                                                                                                                                                                                                  • >>   __ARM_isfinite
                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_f2d
                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                  • >>   PID_Reset -
                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_SetMode -
                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_ResetCalu +
                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   PID_Reset +
                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_SetMode +
                                                                                                                                                                                                                                                                                                                                    • >>   Shoot_ResetCalu
                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                    MOTOR_DM_Enable (Thumb, 122 bytes, Stack size 40 bytes, motor_dm.o(.text.MOTOR_DM_Enable)) +

                                                                                                                                                                                                                                                                                                                                    MOTOR_DM_Enable (Thumb, 122 bytes, Stack size 40 bytes, motor_dm.o(.text.MOTOR_DM_Enable))

                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                    • Max Depth = 184
                                                                                                                                                                                                                                                                                                                                    • Call Chain = MOTOR_DM_Enable ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush

                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                    • >>   BSP_CAN_TransmitStdDataFrame -
                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_DM_GetMotor +
                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_DM_GetMotor
                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                      MOTOR_DM_GetMotor (Thumb, 134 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_GetMotor)) +

                                                                                                                                                                                                                                                                                                                                      MOTOR_DM_GetMotor (Thumb, 134 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_GetMotor))

                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                      • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                      • Call Chain = MOTOR_DM_GetMotor ⇒ MOTOR_DM_GetCANManager
                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_DM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_DM_GetCANManager
                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateFeedback -
                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_DM_MITCtrl -
                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_DM_Enable +
                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_MITCtrl +
                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_Enable
                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                          MOTOR_DM_MITCtrl (Thumb, 72 bytes, Stack size 24 bytes, motor_dm.o(.text.MOTOR_DM_MITCtrl)) +

                                                                                                                                                                                                                                                                                                                                          MOTOR_DM_MITCtrl (Thumb, 72 bytes, Stack size 24 bytes, motor_dm.o(.text.MOTOR_DM_MITCtrl))

                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                          • Max Depth = 232
                                                                                                                                                                                                                                                                                                                                          • Call Chain = MOTOR_DM_MITCtrl ⇒ MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_GetMotor -
                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_SendMITCmd +
                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_DM_GetMotor +
                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_DM_SendMITCmd
                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Output +
                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Output
                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                              MOTOR_DM_Register (Thumb, 300 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_Register)) +

                                                                                                                                                                                                                                                                                                                                              MOTOR_DM_Register (Thumb, 300 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_Register))

                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                              • Max Depth = 308 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                              • Call Chain = MOTOR_DM_Register ⇒ BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                              • >>   BSP_Malloc
                                                                                                                                                                                                                                                                                                                                              • >>   BSP_Free
                                                                                                                                                                                                                                                                                                                                              • >>   BSP_CAN_RegisterId -
                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_memclr8 -
                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_DM_GetCANManager -
                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_DM_CreateCANManager +
                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_memclr8 +
                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_DM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_DM_CreateCANManager
                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                MOTOR_DM_Update (Thumb, 268 bytes, Stack size 72 bytes, motor_dm.o(.text.MOTOR_DM_Update)) +

                                                                                                                                                                                                                                                                                                                                                MOTOR_DM_Update (Thumb, 268 bytes, Stack size 72 bytes, motor_dm.o(.text.MOTOR_DM_Update))

                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                • Max Depth = 324
                                                                                                                                                                                                                                                                                                                                                • Call Chain = MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                • >>   BSP_TIME_Get
                                                                                                                                                                                                                                                                                                                                                • >>   BSP_CAN_GetMessage -
                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_DM_ParseFeedbackFrame -
                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_DM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_DM_ParseFeedbackFrame +
                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_DM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_UpdateFeedback
                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                  MOTOR_RM_Ctrl (Thumb, 368 bytes, Stack size 64 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl)) +

                                                                                                                                                                                                                                                                                                                                                  MOTOR_RM_Ctrl (Thumb, 368 bytes, Stack size 64 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl))

                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 208
                                                                                                                                                                                                                                                                                                                                                  • Call Chain = MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush

                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_CAN_TransmitStdDataFrame -
                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_RunningFSM -
                                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_Output +
                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                    • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_Output
                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                    MOTOR_RM_GetMotor (Thumb, 120 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor)) +

                                                                                                                                                                                                                                                                                                                                                    MOTOR_RM_GetMotor (Thumb, 120 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor))

                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                    • Call Chain = MOTOR_RM_GetMotor ⇒ MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_RM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                      • >>   Chassis_UpdateFeedback -
                                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_UpdateFeedback -
                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_RM_SetOutput +
                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_SetOutput
                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                        MOTOR_RM_Register (Thumb, 288 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_Register)) +

                                                                                                                                                                                                                                                                                                                                                        MOTOR_RM_Register (Thumb, 288 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_Register))

                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 308 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                                        • Call Chain = MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                        • >>   BSP_Malloc
                                                                                                                                                                                                                                                                                                                                                        • >>   BSP_Free
                                                                                                                                                                                                                                                                                                                                                        • >>   BSP_CAN_RegisterId -
                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memclr8 -
                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_GetCANManager -
                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_CreateCANManager +
                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memclr8 +
                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_CreateCANManager
                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_Init -
                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                          • >>   Shoot_Init +
                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                          MOTOR_RM_Relax (Thumb, 24 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_Relax)) +

                                                                                                                                                                                                                                                                                                                                                          MOTOR_RM_Relax (Thumb, 24 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_Relax))

                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                          • Call Chain = MOTOR_RM_Relax ⇒ MOTOR_RM_SetOutput ⇒ MOTOR_RM_GetMotor ⇒ MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_SetOutput +
                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_SetOutput
                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                            • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                              • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                              MOTOR_RM_SetOutput (Thumb, 282 bytes, Stack size 48 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput)) +

                                                                                                                                                                                                                                                                                                                                                              MOTOR_RM_SetOutput (Thumb, 282 bytes, Stack size 48 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput))

                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 88
                                                                                                                                                                                                                                                                                                                                                              • Call Chain = MOTOR_RM_SetOutput ⇒ MOTOR_RM_GetMotor ⇒ MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_RM_GetMotor -
                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_RM_GetLogicalIndex -
                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_RM_GetLSB -
                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_RM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_RM_GetMotor +
                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_RM_GetLogicalIndex +
                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_RM_GetLSB +
                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                • >>   Shoot_RunningFSM -
                                                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_Output -
                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_RM_Relax +
                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_Output +
                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_Relax
                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                  MOTOR_RM_Update (Thumb, 258 bytes, Stack size 72 bytes, motor_rm.o(.text.MOTOR_RM_Update)) +

                                                                                                                                                                                                                                                                                                                                                                  MOTOR_RM_Update (Thumb, 258 bytes, Stack size 72 bytes, motor_rm.o(.text.MOTOR_RM_Update))

                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 324
                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_TIME_Get
                                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_CAN_GetMessage -
                                                                                                                                                                                                                                                                                                                                                                  • >>   Motor_RM_Decode -
                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_GetCANManager +
                                                                                                                                                                                                                                                                                                                                                                  • >>   Motor_RM_Decode +
                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                  • >>   Chassis_UpdateFeedback -
                                                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                    • >>   Shoot_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_UpdateFeedback
                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                    MX_CAN1_Init (Thumb, 78 bytes, Stack size 16 bytes, can.o(.text.MX_CAN1_Init)) +

                                                                                                                                                                                                                                                                                                                                                                    MX_CAN1_Init (Thumb, 78 bytes, Stack size 16 bytes, can.o(.text.MX_CAN1_Init))

                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 200
                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = MX_CAN1_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_CAN_Init -
                                                                                                                                                                                                                                                                                                                                                                    • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_Init +
                                                                                                                                                                                                                                                                                                                                                                      • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                      • >>   main
                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                      MX_CAN2_Init (Thumb, 78 bytes, Stack size 16 bytes, can.o(.text.MX_CAN2_Init)) +

                                                                                                                                                                                                                                                                                                                                                                      MX_CAN2_Init (Thumb, 78 bytes, Stack size 16 bytes, can.o(.text.MX_CAN2_Init))

                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 200
                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = MX_CAN2_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_Init -
                                                                                                                                                                                                                                                                                                                                                                      • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_Init +
                                                                                                                                                                                                                                                                                                                                                                        • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                        • >>   main
                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                        MX_DMA_Init (Thumb, 242 bytes, Stack size 64 bytes, dma.o(.text.MX_DMA_Init)) +

                                                                                                                                                                                                                                                                                                                                                                        MX_DMA_Init (Thumb, 242 bytes, Stack size 64 bytes, dma.o(.text.MX_DMA_Init))

                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_NVIC_EnableIRQ

                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                          • >>   main
                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                          MX_FREERTOS_Init (Thumb, 64 bytes, Stack size 16 bytes, freertos.o(.text.MX_FREERTOS_Init)) +

                                                                                                                                                                                                                                                                                                                                                                          MX_FREERTOS_Init (Thumb, 64 bytes, Stack size 16 bytes, freertos.o(.text.MX_FREERTOS_Init))

                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 268
                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                          • >>   osThreadNew +
                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                            • >>   osThreadNew

                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                            MX_GPIO_Init (Thumb, 554 bytes, Stack size 120 bytes, gpio.o(.text.MX_GPIO_Init)) +

                                                                                                                                                                                                                                                                                                                                                                            MX_GPIO_Init (Thumb, 554 bytes, Stack size 120 bytes, gpio.o(.text.MX_GPIO_Init))

                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 184
                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = MX_GPIO_Init ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_NVIC_EnableIRQ
                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_GPIO_WritePin -
                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_GPIO_Init

                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                              MX_I2C1_Init (Thumb, 72 bytes, Stack size 16 bytes, i2c.o(.text.MX_I2C1_Init)) +

                                                                                                                                                                                                                                                                                                                                                                              MX_I2C1_Init (Thumb, 72 bytes, Stack size 16 bytes, i2c.o(.text.MX_I2C1_Init))

                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 208
                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = MX_I2C1_Init ⇒ HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_Init -
                                                                                                                                                                                                                                                                                                                                                                              • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_Init +
                                                                                                                                                                                                                                                                                                                                                                                • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                • >>   main
                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                MX_I2C2_Init (Thumb, 72 bytes, Stack size 16 bytes, i2c.o(.text.MX_I2C2_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                MX_I2C2_Init (Thumb, 72 bytes, Stack size 16 bytes, i2c.o(.text.MX_I2C2_Init))

                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 208
                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = MX_I2C2_Init ⇒ HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_Init -
                                                                                                                                                                                                                                                                                                                                                                                • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_Init +
                                                                                                                                                                                                                                                                                                                                                                                  • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   main
                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                  MX_SPI1_Init (Thumb, 82 bytes, Stack size 16 bytes, spi.o(.text.MX_SPI1_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                  MX_SPI1_Init (Thumb, 82 bytes, Stack size 16 bytes, spi.o(.text.MX_SPI1_Init))

                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 176
                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = MX_SPI1_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_SPI_Init -
                                                                                                                                                                                                                                                                                                                                                                                  • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_SPI_Init +
                                                                                                                                                                                                                                                                                                                                                                                    • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   main
                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                    MX_SPI2_Init (Thumb, 84 bytes, Stack size 16 bytes, spi.o(.text.MX_SPI2_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                    MX_SPI2_Init (Thumb, 84 bytes, Stack size 16 bytes, spi.o(.text.MX_SPI2_Init))

                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 176
                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = MX_SPI2_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_SPI_Init -
                                                                                                                                                                                                                                                                                                                                                                                    • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_SPI_Init +
                                                                                                                                                                                                                                                                                                                                                                                      • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   main
                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                      MX_TIM10_Init (Thumb, 142 bytes, Stack size 40 bytes, tim.o(.text.MX_TIM10_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                      MX_TIM10_Init (Thumb, 142 bytes, Stack size 40 bytes, tim.o(.text.MX_TIM10_Init))

                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 144
                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = MX_TIM10_Init ⇒ HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_Init -
                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_ConfigChannel -
                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_MspPostInit -
                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_Base_Init -
                                                                                                                                                                                                                                                                                                                                                                                      • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_MspPostInit +
                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                                                                                                                                        • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   main
                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                        MX_TIM7_Init (Thumb, 88 bytes, Stack size 16 bytes, tim.o(.text.MX_TIM7_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                        MX_TIM7_Init (Thumb, 88 bytes, Stack size 16 bytes, tim.o(.text.MX_TIM7_Init))

                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = MX_TIM7_Init ⇒ HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_Base_Init -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIMEx_MasterConfigSynchronization -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIMEx_MasterConfigSynchronization +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   main
                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                          MX_USART1_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART1_UART_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                          MX_USART1_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART1_UART_Init))

                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 240
                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = MX_USART1_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                          • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                            • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                            MX_USART2_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART2_UART_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                            MX_USART2_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART2_UART_Init))

                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 240
                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = MX_USART2_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                              MX_USART3_UART_Init (Thumb, 76 bytes, Stack size 16 bytes, usart.o(.text.MX_USART3_UART_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                              MX_USART3_UART_Init (Thumb, 76 bytes, Stack size 16 bytes, usart.o(.text.MX_USART3_UART_Init))

                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 240
                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                              • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   main
                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                MX_USART6_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART6_UART_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                                MX_USART6_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART6_UART_Init))

                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 240
                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   main
                                                                                                                                                                                                                                                                                                                                                                                                  @@ -2627,56 +2603,56 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                  NMI_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.NMI_Handler))
                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 1]

                                                                                                                                                                                                                                                                                                                                                                                                  • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                  PID_Calc (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc)) +

                                                                                                                                                                                                                                                                                                                                                                                                  PID_Calc (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc))

                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = PID_Calc ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   CircleError -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   AbsClip -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __ARM_isfinitef -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __ARM_isfinite -
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   CircleError +
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AbsClip +
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __ARM_isfinitef +
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __ARM_isfinite +
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Apply
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_f2d
                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Shoot_RunningFSM -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_Control
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Task_atti_esti
                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                      PID_Init (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                                      PID_Init (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))

                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = PID_Init ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Reset -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __ARM_isfinitef -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __ARM_isfinite -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   LowPassFilter2p_Init +
                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __ARM_isfinitef +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __ARM_isfinite +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LowPassFilter2p_Init
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_f2d
                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_Init -
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Shoot_Init +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_atti_esti
                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                          PID_Reset (Thumb, 72 bytes, Stack size 24 bytes, pid.o(.text.PID_Reset)) +

                                                                                                                                                                                                                                                                                                                                                                                                          PID_Reset (Thumb, 72 bytes, Stack size 24 bytes, pid.o(.text.PID_Reset))

                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 96
                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Reset
                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_SetMode -
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Shoot_ResetCalu +
                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_SetMode +
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Shoot_ResetCalu
                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                              PID_ResetIntegral (Thumb, 38 bytes, Stack size 8 bytes, pid.o(.text.PID_ResetIntegral)) +

                                                                                                                                                                                                                                                                                                                                                                                                              PID_ResetIntegral (Thumb, 38 bytes, Stack size 8 bytes, pid.o(.text.PID_ResetIntegral))

                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = PID_ResetIntegral
                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Shoot_RunningFSM -
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Shoot_ResetIntegral +
                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Shoot_ResetIntegral

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

                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = PendSV_Handler ⇒ vTaskSwitchContext ⇒ vApplicationStackOverflowHook
                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskSwitchContext +
                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskSwitchContext

                                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                  • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                                                                                  @@ -2686,118 +2662,128 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   remote_control_init
                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                  RC_restart (Thumb, 90 bytes, Stack size 24 bytes, bsp_rc.o(.text.RC_restart)) +

                                                                                                                                                                                                                                                                                                                                                                                                                  RC_restart (Thumb, 90 bytes, Stack size 24 bytes, bsp_rc.o(.text.RC_restart))

                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 44
                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = RC_restart ⇒ user_delay_ms ⇒ user_delay_us
                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   user_delay_ms +
                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   user_delay_ms
                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   DMA1_Stream1_IRQHandler1 +
                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   DMA1_Stream1_IRQHandler1

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

                                                                                                                                                                                                                                                                                                                                                                                                                      • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                      ScaleSumTo1 (Thumb, 104 bytes, Stack size 16 bytes, user_math.o(.text.ScaleSumTo1)) +

                                                                                                                                                                                                                                                                                                                                                                                                                      ScaleSumTo1 (Thumb, 104 bytes, Stack size 16 bytes, user_math.o(.text.ScaleSumTo1))

                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = ScaleSumTo1
                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                        Shoot_CaluTargetAngle (Thumb, 244 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_CaluTargetAngle)) +

                                                                                                                                                                                                                                                                                                                                                                                                                        Shoot_CaluTargetAngle (Thumb, 204 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_CaluTargetAngle))

                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 52
                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = Shoot_CaluTargetAngle ⇒ CircleError
                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CircleAdd -
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CircleError +
                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CircleAdd +
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CircleError
                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                            Shoot_CaluTargetRPM (Thumb, 92 bytes, Stack size 16 bytes, shoot.o(.text.Shoot_CaluTargetRPM)) +

                                                                                                                                                                                                                                                                                                                                                                                                                            Shoot_CaluTargetRPM (Thumb, 90 bytes, Stack size 16 bytes, shoot.o(.text.Shoot_CaluTargetRPM))

                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

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

                                                                                                                                                                                                                                                                                                                                                                                                                              Shoot_Control (Thumb, 152 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_Control)) -

                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 352
                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush +

                                                                                                                                                                                                                                                                                                                                                                                                                                Shoot_Control (Thumb, 152 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_Control)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 368
                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BSP_TIME_Get_us -
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_ul2f -
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Shoot_JamDetectionFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_TIME_Get_us +
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_ul2f +
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_JamDetectionFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_CaluTargetRPM

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Task_shoot_ctrl
                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                  Shoot_Init (Thumb, 844 bytes, Stack size 48 bytes, shoot.o(.text.Shoot_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                  Shoot_Init (Thumb, 438 bytes, Stack size 48 bytes, shoot.o(.text.Shoot_Init))

                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 388 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   LowPassFilter2p_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_Malloc -
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_Free +
                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BSP_CAN_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_RM_Register +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_RM_Register

                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Task_shoot_ctrl
                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                    Shoot_JamDetectionFSM (Thumb, 432 bytes, Stack size 24 bytes, shoot.o(.text.Shoot_JamDetectionFSM)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 320
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Shoot_JamDetectionFSM (Thumb, 432 bytes, Stack size 24 bytes, shoot.o(.text.Shoot_JamDetectionFSM)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 336
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Shoot_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                          Shoot_ResetCalu (Thumb, 212 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_ResetCalu)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                          Shoot_ResetCalu (Thumb, 216 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_ResetCalu))

                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = Shoot_ResetCalu ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   PID_Reset -
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   PID_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Reset
                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                              Shoot_ResetIntegral (Thumb, 132 bytes, Stack size 24 bytes, shoot.o(.text.Shoot_ResetIntegral)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Shoot_ResetIntegral (Thumb, 134 bytes, Stack size 24 bytes, shoot.o(.text.Shoot_ResetIntegral))

                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = Shoot_ResetIntegral ⇒ PID_ResetIntegral
                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   PID_ResetIntegral +
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   PID_ResetIntegral
                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                  Shoot_ResetOutput (Thumb, 140 bytes, Stack size 16 bytes, shoot.o(.text.Shoot_ResetOutput)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                  Shoot_ResetOutput (Thumb, 140 bytes, Stack size 16 bytes, shoot.o(.text.Shoot_ResetOutput))

                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = Shoot_ResetOutput
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Shoot_RunningFSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Shoot_RunningFSM (Thumb, 1724 bytes, Stack size 88 bytes, shoot.o(.text.Shoot_RunningFSM)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 296
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush +

                                                                                                                                                                                                                                                                                                                                                                                                                                                      Shoot_RunningFSM (Thumb, 1736 bytes, Stack size 104 bytes, shoot.o(.text.Shoot_RunningFSM)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 312
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   ScaleSumTo1 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_ResetIntegral -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Calc -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   LowPassFilter2p_Apply -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_ResetOutput -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_ResetIntegral -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_ResetCalu -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_CaluTargetRPM -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_CaluTargetAngle -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_RM_SetOutput -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_RM_Relax -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_RM_Ctrl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   ScaleSumTo1 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_ResetIntegral +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_ResetOutput +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_ResetIntegral +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_ResetCalu +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_CaluTargetAngle +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_CaluCoupledWeight +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_SetOutput +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_Relax +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_Ctrl
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Shoot_JamDetectionFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Shoot_JamDetectionFSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                          Shoot_SetMode (Thumb, 52 bytes, Stack size 12 bytes, shoot.o(.text.Shoot_SetMode)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                          Shoot_SetMode (Thumb, 46 bytes, Stack size 12 bytes, shoot.o(.text.Shoot_SetMode))

                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = Shoot_SetMode

                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_shoot_ctrl
                                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                                          Shoot_UpdateFeedback (Thumb, 736 bytes, Stack size 40 bytes, shoot.o(.text.Shoot_UpdateFeedback)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 364
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = Shoot_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_memcpy8 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_Update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_GetMotor +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Task_shoot_ctrl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                                          StartDefaultTask (Thumb, 18 bytes, Stack size 16 bytes, freertos.o(.text.StartDefaultTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 188
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = StartDefaultTask ⇒ osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
                                                                                                                                                                                                                                                                                                                                                                                                                                                          @@ -2819,9 +2805,9 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 192 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_RCC_OscConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_RCC_ClockConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_RCC_OscConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Error_Handler
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_memclr4

                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   main @@ -2833,34 +2819,34 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIM7_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.TIM7_IRQHandler))

                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 36
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = TIM7_IRQHandler ⇒ HAL_TIM_IRQHandler ⇒ HAL_TIM_TriggerCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_TIM_IRQHandler

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIM_Base_SetConfig (Thumb, 420 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIM_Base_SetConfig (Thumb, 420 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = TIM_Base_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_TIM_PWM_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_Base_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_CCxChannelCmd (Thumb, 54 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_CCxChannelCmd (Thumb, 54 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = TIM_CCxChannelCmd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PWM_Start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_OC2_SetConfig (Thumb, 244 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_OC2_SetConfig (Thumb, 244 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = TIM_OC2_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_PWM_ConfigChannel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Task_Init (Thumb, 308 bytes, Stack size 24 bytes, init.o(.text.Task_Init))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 276
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osThreadTerminate -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osThreadNew +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osThreadNew
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osThreadGetId
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osMessageQueueNew
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osKernelUnlock @@ -2891,8 +2877,8 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Task_atti_esti (Thumb, 700 bytes, Stack size 56 bytes, atti_esti.o(.text.Task_atti_esti))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 432
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = Task_atti_esti ⇒ AHRS_Update ⇒ AHRS_UpdateIMU ⇒ InvSqrt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Calc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_Update
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_GetEulr @@ -2935,11 +2921,11 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_ui2d
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_d2uiz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_ddiv -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateIMU -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateFeedback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Output -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateIMU +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Output +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Config_GetRobotParam

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • init.o(.text.Task_Init) @@ -2963,7 +2949,7 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Task_shoot_ctrl (Thumb, 220 bytes, Stack size 48 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Task_shoot_ctrl (Thumb, 212 bytes, Stack size 48 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 436 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = Task_shoot_ctrl ⇒ Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        @@ -2975,24 +2961,23 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_ui2d
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_d2uiz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_UpdateFeedback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_SetMode -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_Control -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Config_ShootInit -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Chassis_UpdateFeedback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Config_GetRobotParam

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UART_Start_Receive_DMA (Thumb, 304 bytes, Stack size 48 bytes, stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UART_Start_Receive_DMA (Thumb, 304 bytes, Stack size 48 bytes, stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_DMA_Start_IT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_Receive_DMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UART_Start_Receive_IT (Thumb, 98 bytes, Stack size 12 bytes, stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UART_Start_Receive_IT (Thumb, 98 bytes, Stack size 12 bytes, stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = UART_Start_Receive_IT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_Receive_IT @@ -3001,7 +2986,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          USART1_IRQHandler (Thumb, 28 bytes, Stack size 16 bytes, stm32f4xx_it.o(.text.USART1_IRQHandler))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 152
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = USART1_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   BSP_UART_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • startup_stm32f407xx.o(RESET) @@ -3009,7 +2994,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              USART2_IRQHandler (Thumb, 28 bytes, Stack size 16 bytes, stm32f4xx_it.o(.text.USART2_IRQHandler))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 152
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = USART2_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BSP_UART_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • startup_stm32f407xx.o(RESET) @@ -3018,7 +3003,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 152
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = USART3_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   USART3_IRQHandler1 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BSP_UART_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • startup_stm32f407xx.o(RESET) @@ -3030,7 +3015,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    USART6_IRQHandler (Thumb, 28 bytes, Stack size 16 bytes, stm32f4xx_it.o(.text.USART6_IRQHandler))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 152
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = USART6_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BSP_UART_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • startup_stm32f407xx.o(RESET) @@ -3056,7 +3041,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      getRunTimeCounterValue (Thumb, 4 bytes, Stack size 0 bytes, freertos.o(.text.getRunTimeCounterValue)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vTaskSwitchContext +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskSwitchContext

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        main (Thumb, 88 bytes, Stack size 16 bytes, main.o(.text.main)) @@ -3066,36 +3051,36 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   osKernelStart
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   osKernelInitialize
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   SystemClock_Config -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART6_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART3_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART2_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART1_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_TIM7_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_TIM10_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_SPI2_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_SPI1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_I2C2_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_I2C1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_GPIO_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_FREERTOS_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_DMA_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_CAN2_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_CAN1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART6_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART3_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART2_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_USART1_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_TIM7_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_SPI2_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_SPI1_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_I2C2_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_I2C1_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_FREERTOS_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_DMA_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_CAN2_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MX_CAN1_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_Init

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __rt_entry_main
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        major_yaw_Control (Thumb, 44 bytes, Stack size 8 bytes, gimbal.o(.text.major_yaw_Control)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        major_yaw_Control (Thumb, 44 bytes, Stack size 8 bytes, gimbal.o(.text.major_yaw_Control))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = major_yaw_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          map (Thumb, 42 bytes, Stack size 16 bytes, calc_lib.o(.text.map))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = map
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   sbus_to_rc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   sbus_to_rc

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            osDelay (Thumb, 52 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osDelay)) @@ -3174,7 +3159,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            osKernelStart (Thumb, 82 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osKernelStart))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 292
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SVC_Setup +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   SVC_Setup
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskStartScheduler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   main @@ -3300,14 +3285,14 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   BMI088_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              osThreadNew (Thumb, 346 bytes, Stack size 72 bytes, cmsis_os2.o(.text.osThreadNew)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              osThreadNew (Thumb, 346 bytes, Stack size 72 bytes, cmsis_os2.o(.text.osThreadNew))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 252
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskCreateStatic
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskCreate

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              osThreadTerminate (Thumb, 94 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osThreadTerminate)) @@ -3343,7 +3328,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvInitialiseNewTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              remote_ParseHost (Thumb, 64 bytes, Stack size 16 bytes, remote_cmd.o(.text.remote_ParseHost)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              remote_ParseHost (Thumb, 60 bytes, Stack size 16 bytes, remote_cmd.o(.text.remote_ParseHost))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = remote_ParseHost

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Task_remote @@ -3357,24 +3342,24 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Task_remote
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                shoot_remote_cmd (Thumb, 202 bytes, Stack size 16 bytes, remote_cmd.o(.text.shoot_remote_cmd)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                shoot_remote_cmd (Thumb, 158 bytes, Stack size 16 bytes, remote_cmd.o(.text.shoot_remote_cmd))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = shoot_remote_cmd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Task_remote
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                user_delay_ms (Thumb, 46 bytes, Stack size 16 bytes, calc_lib.o(.text.user_delay_ms)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                user_delay_ms (Thumb, 46 bytes, Stack size 16 bytes, calc_lib.o(.text.user_delay_ms))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = user_delay_ms ⇒ user_delay_us

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   user_delay_us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   RC_restart +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   RC_restart

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  user_delay_us (Thumb, 68 bytes, Stack size 4 bytes, calc_lib.o(.text.user_delay_us))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = user_delay_us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   user_delay_ms +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   user_delay_ms

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uxListRemove (Thumb, 72 bytes, Stack size 8 bytes, list.o(.text.uxListRemove)) @@ -3411,7 +3396,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vApplicationStackOverflowHook (Thumb, 10 bytes, Stack size 8 bytes, freertos.o(.text.vApplicationStackOverflowHook))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vListInitialise (Thumb, 46 bytes, Stack size 4 bytes, list.o(.text.vListInitialise)) @@ -3642,7 +3627,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvProcessTimerOrBlockTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vTaskSwitchContext (Thumb, 384 bytes, Stack size 32 bytes, tasks.o(.text.vTaskSwitchContext)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vTaskSwitchContext (Thumb, 384 bytes, Stack size 32 bytes, tasks.o(.text.vTaskSwitchContext))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = vTaskSwitchContext ⇒ vApplicationStackOverflowHook

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vApplicationStackOverflowHook @@ -3659,7 +3644,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vPortEnableVFP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvTaskExitError
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvPortStartFirstTask -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vTaskSwitchContext +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vTaskSwitchContext

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    @@ -3847,7 +3832,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortFree
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   pvPortMalloc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   osThreadNew +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osThreadNew

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskCreateStatic (Thumb, 206 bytes, Stack size 72 bytes, tasks.o(.text.xTaskCreateStatic)) @@ -3856,7 +3841,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvInitialiseNewTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osThreadNew +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   osThreadNew
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTimerCreateTimerTask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      @@ -4026,7 +4011,7 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_tanf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_tanf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_atan2f
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      @@ -4052,7 +4037,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_ddiv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_dsub
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_drsub -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __kernel_poly
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __ARM_fpclassify
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   fabs @@ -4089,7 +4074,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AHRS_GetEulr
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 28
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = __hardfp_cosf ⇒ __mathlib_rredf2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __set_errno @@ -4097,7 +4082,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __mathlib_flt_invalid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __mathlib_flt_infnan
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   LowPassFilter2p_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LowPassFilter2p_Init

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __hardfp_pow (Thumb, 3088 bytes, Stack size 184 bytes, pow.o(i.__hardfp_pow)) @@ -4110,7 +4095,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_ddiv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_dsub
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_drsub -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   sqrt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __kernel_poly
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __ARM_fpclassify @@ -4123,10 +4108,10 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __ARM_scalbn
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_cdrcmple
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   poly +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   poly
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 36
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = __hardfp_tanf ⇒ __mathlib_rredf2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __set_errno @@ -4136,14 +4121,14 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_flt_infnan
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __ARM_fpclassifyf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LowPassFilter2p_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Init

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = __kernel_poly ⇒ __aeabi_dmul

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dmul -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dadd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_atan @@ -4160,7 +4145,7 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              @@ -4168,7 +4153,7 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_atan2 @@ -4200,8 +4185,8 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_cosf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  @@ -4210,13 +4195,13 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_cosf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_tanf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_atan2f
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    @@ -4224,8 +4209,8 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      atan (Thumb, 16 bytes, Stack size 8 bytes, atan.o(i.atan)) @@ -4281,7 +4266,8 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = __aeabi_d2f

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AHRS_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_CaluCoupledWeight +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      _d2f (Thumb, 98 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED) @@ -4289,12 +4275,12 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __fpl_dnaninf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __aeabi_dadd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_pow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   poly -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   poly +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __kernel_poly
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_infnan2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_dbl_infnan @@ -4352,7 +4338,7 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = __aeabi_d2iz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   sbus_to_rc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   sbus_to_rc

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        _dfix (Thumb, 94 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix), UNUSED) @@ -4375,7 +4361,7 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   sbus_to_rc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   sbus_to_rc

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        _dflt (Thumb, 46 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt), UNUSED) @@ -4405,8 +4391,8 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = __aeabi_dmul

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_pow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   poly -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   sbus_to_rc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   poly +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   sbus_to_rc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __kernel_poly
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_dbl_underflow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_dbl_overflow @@ -4487,12 +4473,13 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = __aeabi_f2d
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   PID_Calc -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Reset -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Apply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Shoot_CaluCoupledWeight +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            _f2d (Thumb, 86 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d), UNUSED) @@ -4500,9 +4487,9 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __fpl_dretinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Shoot_Control -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Control +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Shoot_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            _ll_uto_f (Thumb, 6 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED) @@ -4546,236 +4533,236 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DMA_CalcBaseAndBitshift (Thumb, 86 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DMA_CalcBaseAndBitshift (Thumb, 86 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = DMA_CalcBaseAndBitshift
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_DMA_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_DMA_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DMA_CheckFifoParam (Thumb, 240 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DMA_CheckFifoParam (Thumb, 240 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = DMA_CheckFifoParam
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_DMA_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_DMA_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DMA_SetConfig (Thumb, 80 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.DMA_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DMA_SetConfig (Thumb, 80 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.DMA_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = DMA_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_DMA_Start_IT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NVIC_EncodePriority (Thumb, 108 bytes, Stack size 32 bytes, stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NVIC_EncodePriority (Thumb, 108 bytes, Stack size 32 bytes, stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = NVIC_EncodePriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SysTick_Config (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.SysTick_Config)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SysTick_Config (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.SysTick_Config))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = SysTick_Config ⇒ __NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_SYSTICK_Config +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_SYSTICK_Config
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __NVIC_DisableIRQ (Thumb, 56 bytes, Stack size 4 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_DisableIRQ)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __NVIC_DisableIRQ (Thumb, 56 bytes, Stack size 4 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_DisableIRQ))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = __NVIC_DisableIRQ

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_NVIC_DisableIRQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __NVIC_EnableIRQ (Thumb, 48 bytes, Stack size 4 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __NVIC_EnableIRQ (Thumb, 48 bytes, Stack size 4 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = __NVIC_EnableIRQ

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_NVIC_EnableIRQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __NVIC_GetPriorityGrouping (Thumb, 16 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_NVIC_SetPriority +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __NVIC_GetPriorityGrouping (Thumb, 16 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __NVIC_SetPriority (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __NVIC_SetPriority (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = __NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   SysTick_Config -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SysTick_Config +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            __NVIC_SetPriorityGrouping (Thumb, 60 bytes, Stack size 12 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            __NVIC_SetPriorityGrouping (Thumb, 60 bytes, Stack size 12 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = __NVIC_SetPriorityGrouping
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_NVIC_SetPriorityGrouping +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_NVIC_SetPriorityGrouping
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              I2C_ConvertOtherXferOptions (Thumb, 52 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_ConvertOtherXferOptions)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              I2C_ConvertOtherXferOptions (Thumb, 52 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_ConvertOtherXferOptions))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = I2C_ConvertOtherXferOptions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_EV_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_DMAAbort (Thumb, 342 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_DMAAbort))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = I2C_DMAAbort ⇒ HAL_I2C_ErrorCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_ErrorCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_AbortCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_AbortCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • stm32f4xx_hal_i2c.o(.text.I2C_ITError)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • stm32f4xx_hal_i2c.o(.text.I2C_Slave_STOPF)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2C_Flush_DR (Thumb, 36 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Flush_DR)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2C_Flush_DR (Thumb, 36 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Flush_DR))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = I2C_Flush_DR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   I2C_Slave_AF -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   I2C_MemoryTransmit_TXE_BTF +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   I2C_Slave_AF +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   I2C_MemoryTransmit_TXE_BTF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_ITError (Thumb, 634 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_ITError)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_ITError (Thumb, 634 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_ITError))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = I2C_ITError ⇒ HAL_I2C_ListenCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_DMA_Abort_IT -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_ListenCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_ErrorCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_AbortCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_DMA_Abort_IT +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_ListenCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_AbortCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   I2C_Slave_STOPF -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_ER_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   I2C_Slave_STOPF +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_ER_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_MasterReceive_BTF (Thumb, 428 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_BTF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_MasterReceive_BTF (Thumb, 428 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_BTF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = I2C_MasterReceive_BTF ⇒ HAL_I2C_MemRxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_MemRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_MasterRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_MemRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_MasterRxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            I2C_MasterReceive_RXNE (Thumb, 362 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_RXNE)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            I2C_MasterReceive_RXNE (Thumb, 362 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_RXNE))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = I2C_MasterReceive_RXNE ⇒ HAL_I2C_MemRxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   I2C_WaitOnSTOPRequestThroughIT -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_MemRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_MasterRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   I2C_WaitOnSTOPRequestThroughIT +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_MemRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_MasterRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_ErrorCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_MasterTransmit_BTF (Thumb, 222 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_BTF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_MasterTransmit_BTF (Thumb, 222 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_BTF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = I2C_MasterTransmit_BTF ⇒ HAL_I2C_MemTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_MemTxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_MasterTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_MemTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_MasterTxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_MasterTransmit_TXE (Thumb, 318 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_TXE)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_MasterTransmit_TXE (Thumb, 318 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_TXE))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = I2C_MasterTransmit_TXE ⇒ I2C_MemoryTransmit_TXE_BTF ⇒ HAL_I2C_MemTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   I2C_MemoryTransmit_TXE_BTF -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_MemTxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_MasterTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   I2C_MemoryTransmit_TXE_BTF +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_MemTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_MasterTxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_Master_ADD10 (Thumb, 70 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Master_ADD10)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_Master_ADD10 (Thumb, 70 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Master_ADD10))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = I2C_Master_ADD10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          I2C_Master_ADDR (Thumb, 830 bytes, Stack size 56 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Master_ADDR)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          I2C_Master_ADDR (Thumb, 830 bytes, Stack size 56 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Master_ADDR))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = I2C_Master_ADDR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            I2C_Master_SB (Thumb, 240 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Master_SB)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            I2C_Master_SB (Thumb, 240 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Master_SB))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = I2C_Master_SB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              I2C_MemoryTransmit_TXE_BTF (Thumb, 296 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MemoryTransmit_TXE_BTF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              I2C_MemoryTransmit_TXE_BTF (Thumb, 296 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_MemoryTransmit_TXE_BTF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = I2C_MemoryTransmit_TXE_BTF ⇒ HAL_I2C_MemTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   I2C_Flush_DR -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_MemTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   I2C_Flush_DR +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_MemTxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   I2C_MasterTransmit_TXE -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   I2C_MasterTransmit_TXE +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2C_SlaveReceive_BTF (Thumb, 46 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_BTF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2C_SlaveReceive_BTF (Thumb, 46 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_BTF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = I2C_SlaveReceive_BTF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_SlaveReceive_RXNE (Thumb, 110 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_RXNE)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_SlaveReceive_RXNE (Thumb, 110 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_RXNE))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = I2C_SlaveReceive_RXNE ⇒ HAL_I2C_SlaveRxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_SlaveRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_SlaveRxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_SlaveTransmit_BTF (Thumb, 44 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_BTF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_SlaveTransmit_BTF (Thumb, 44 bytes, Stack size 4 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_BTF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = I2C_SlaveTransmit_BTF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          I2C_SlaveTransmit_TXE (Thumb, 108 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_TXE)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          I2C_SlaveTransmit_TXE (Thumb, 108 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_TXE))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = I2C_SlaveTransmit_TXE ⇒ HAL_I2C_SlaveTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_SlaveTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_SlaveTxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              I2C_Slave_ADDR (Thumb, 174 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Slave_ADDR)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              I2C_Slave_ADDR (Thumb, 174 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Slave_ADDR))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = I2C_Slave_ADDR ⇒ HAL_I2C_AddrCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_AddrCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_AddrCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2C_Slave_AF (Thumb, 228 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Slave_AF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2C_Slave_AF (Thumb, 228 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Slave_AF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = I2C_Slave_AF ⇒ HAL_I2C_SlaveTxCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   I2C_Flush_DR -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_SlaveTxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_ListenCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   I2C_Flush_DR +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_SlaveTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_ListenCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_ER_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_ER_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      I2C_Slave_STOPF (Thumb, 586 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Slave_STOPF)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      I2C_Slave_STOPF (Thumb, 586 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_Slave_STOPF))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 72
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = I2C_Slave_STOPF ⇒ I2C_ITError ⇒ HAL_I2C_ListenCpltCallback ⇒ I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   I2C_ITError -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_DMA_GetState -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_DMA_Abort_IT -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_SlaveRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_ListenCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   I2C_ITError +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_DMA_GetState +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_DMA_Abort_IT +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_SlaveRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_ListenCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_EV_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_EV_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          I2C_WaitOnSTOPRequestThroughIT (Thumb, 120 bytes, Stack size 12 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnSTOPRequestThroughIT)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          I2C_WaitOnSTOPRequestThroughIT (Thumb, 120 bytes, Stack size 12 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnSTOPRequestThroughIT))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = I2C_WaitOnSTOPRequestThroughIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   I2C_MasterReceive_RXNE +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   I2C_MasterReceive_RXNE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPI_DMAError (Thumb, 52 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAError))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = SPI_DMAError ⇒ HAL_SPI_ErrorCallback ⇒ SPI_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_SPI_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Address Reference Count : 3]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) @@ -4784,7 +4771,7 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_DMAHalfReceiveCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfReceiveCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = SPI_DMAHalfReceiveCplt ⇒ HAL_SPI_RxHalfCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_SPI_RxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_SPI_RxHalfCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) @@ -4792,14 +4779,14 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPI_DMAHalfTransmitCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = SPI_DMAHalfTransmitCplt ⇒ HAL_SPI_TxHalfCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_SPI_TxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_SPI_TxHalfCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPI_DMAHalfTransmitReceiveCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitReceiveCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = SPI_DMAHalfTransmitReceiveCplt ⇒ HAL_SPI_TxRxHalfCpltCallback ⇒ SPI_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_SPI_TxRxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_SPI_TxRxHalfCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        @@ -4807,9 +4794,9 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = SPI_DMAReceiveCplt ⇒ SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) @@ -4818,9 +4805,9 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SPI_DMATransmitCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          @@ -4828,63 +4815,63 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SPI_DMATransmitReceiveCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPI_EndRxTransaction (Thumb, 228 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTransaction)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPI_EndRxTransaction (Thumb, 228 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTransaction))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 80
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   SPI_WaitFlagStateUntilTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SPI_WaitFlagStateUntilTimeout

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_Receive
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SPI_DMAReceiveCplt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPI_EndRxTxTransaction (Thumb, 204 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTxTransaction)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPI_EndRxTxTransaction (Thumb, 204 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTxTransaction))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 80
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   SPI_WaitFlagStateUntilTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   SPI_WaitFlagStateUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_SPI_TransmitReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_SPI_TransmitReceive
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_SPI_Transmit
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_DMATransmitReceiveCplt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_DMATransmitCplt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_WaitFlagStateUntilTimeout (Thumb, 300 bytes, Stack size 48 bytes, stm32f4xx_hal_spi.o(.text.SPI_WaitFlagStateUntilTimeout)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_WaitFlagStateUntilTimeout (Thumb, 300 bytes, Stack size 48 bytes, stm32f4xx_hal_spi.o(.text.SPI_WaitFlagStateUntilTimeout))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = SPI_WaitFlagStateUntilTimeout

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_EndRxTxTransaction -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   SPI_EndRxTransaction +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   SPI_EndRxTxTransaction +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   SPI_EndRxTransaction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_OC1_SetConfig (Thumb, 234 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC1_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_OC1_SetConfig (Thumb, 234 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC1_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = TIM_OC1_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_PWM_ConfigChannel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIM_OC3_SetConfig (Thumb, 242 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC3_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIM_OC3_SetConfig (Thumb, 242 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC3_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = TIM_OC3_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_ConfigChannel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIM_OC4_SetConfig (Thumb, 164 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC4_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIM_OC4_SetConfig (Thumb, 164 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC4_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = TIM_OC4_SetConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_ConfigChannel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UART_DMAAbortOnError (Thumb, 28 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = UART_DMAAbortOnError ⇒ HAL_UART_ErrorCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          @@ -4892,8 +4879,8 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = UART_DMAError ⇒ HAL_UART_ErrorCallback ⇒ UART_Get

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) @@ -4901,46 +4888,46 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UART_DMAReceiveCplt (Thumb, 244 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = UART_DMAReceiveCplt ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_RxCpltCallback

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UART_DMARxHalfCplt (Thumb, 52 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = UART_DMARxHalfCplt ⇒ HAL_UART_RxHalfCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_RxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_RxHalfCpltCallback

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UART_DMATransmitCplt (Thumb, 122 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.UART_DMATransmitCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = UART_DMATransmitCplt ⇒ HAL_UART_TxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_TxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_TxCpltCallback

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_DMATxHalfCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_DMATxHalfCplt))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = UART_DMATxHalfCplt ⇒ HAL_UART_TxHalfCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_TxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_UART_TxHalfCpltCallback

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UART_EndRxTransfer (Thumb, 148 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UART_EndRxTransfer (Thumb, 148 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = UART_EndRxTransfer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART_DMAError
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UART_EndTransmit_IT (Thumb, 38 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTransmit_IT)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UART_EndTransmit_IT (Thumb, 38 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTransmit_IT))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = UART_EndTransmit_IT ⇒ HAL_UART_TxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_TxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_TxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UART_EndTxTransfer (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)) @@ -4949,29 +4936,29 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   UART_DMAError
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UART_Receive_IT (Thumb, 360 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UART_Receive_IT (Thumb, 360 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_RxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UART_SetConfig (Thumb, 314 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UART_SetConfig (Thumb, 314 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 80
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = UART_SetConfig ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_RCC_GetPCLK2Freq -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_RCC_GetPCLK1Freq -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_uldivmod +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_RCC_GetPCLK2Freq +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_RCC_GetPCLK1Freq +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_Transmit_IT (Thumb, 148 bytes, Stack size 12 bytes, stm32f4xx_hal_uart.o(.text.UART_Transmit_IT)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UART_Transmit_IT (Thumb, 148 bytes, Stack size 12 bytes, stm32f4xx_hal_uart.o(.text.UART_Transmit_IT))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = UART_Transmit_IT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_UART_IRQHandler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    prvCopyDataFromQueue (Thumb, 66 bytes, Stack size 16 bytes, queue.o(.text.prvCopyDataFromQueue)) @@ -5221,18 +5208,18 @@ Local Symbols


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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SVC_Setup (Thumb, 14 bytes, Stack size 8 bytes, cmsis_os2.o(.text.SVC_Setup)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SVC_Setup (Thumb, 14 bytes, Stack size 8 bytes, cmsis_os2.o(.text.SVC_Setup))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = SVC_Setup ⇒ __NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __NVIC_SetPriority

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osKernelStart
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __NVIC_SetPriority (Thumb, 66 bytes, Stack size 8 bytes, cmsis_os2.o(.text.__NVIC_SetPriority)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __NVIC_SetPriority (Thumb, 66 bytes, Stack size 8 bytes, cmsis_os2.o(.text.__NVIC_SetPriority))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   SVC_Setup +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   SVC_Setup

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvHeapInit (Thumb, 188 bytes, Stack size 16 bytes, heap_4.o(.text.prvHeapInit)) @@ -5362,59 +5349,59 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BSP_CAN_Transmit
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_Get (Thumb, 86 bytes, Stack size 8 bytes, can_1.o(.text.CAN_Get)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_Get (Thumb, 86 bytes, Stack size 8 bytes, can_1.o(.text.CAN_Get))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = CAN_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_WakeUpFromRxMsgCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_TxMailbox2CompleteCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_TxMailbox2AbortCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_TxMailbox1CompleteCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_TxMailbox1AbortCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_TxMailbox0CompleteCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_TxMailbox0AbortCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_SleepCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_RxFifo1MsgPendingCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_RxFifo1FullCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_RxFifo0MsgPendingCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_RxFifo0FullCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_CAN_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_WakeUpFromRxMsgCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_TxMailbox2CompleteCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_TxMailbox2AbortCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_TxMailbox1CompleteCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_TxMailbox1AbortCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_TxMailbox0CompleteCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_TxMailbox0AbortCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_SleepCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_RxFifo1MsgPendingCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_RxFifo1FullCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_RxFifo0MsgPendingCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_RxFifo0FullCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_CAN_ErrorCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_Get (Thumb, 72 bytes, Stack size 8 bytes, i2c_1.o(.text.I2C_Get)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_Get (Thumb, 72 bytes, Stack size 8 bytes, i2c_1.o(.text.I2C_Get))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = I2C_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_SlaveTxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_SlaveRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_MemTxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_MemRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_MasterTxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_MasterRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_ListenCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_ErrorCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_AbortCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_SlaveTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_SlaveRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_MemTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_MemRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_MasterTxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_MasterRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_ListenCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_AbortCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPI_Get (Thumb, 46 bytes, Stack size 8 bytes, spi_1.o(.text.SPI_Get)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPI_Get (Thumb, 46 bytes, Stack size 8 bytes, spi_1.o(.text.SPI_Get))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = SPI_Get
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_TxRxHalfCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_TxRxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_TxHalfCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_TxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_RxHalfCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_RxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_SPI_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_TxRxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_TxRxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_TxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_TxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_RxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_RxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_SPI_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UART_Get (Thumb, 124 bytes, Stack size 8 bytes, uart.o(.text.UART_Get))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = UART_Get

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   BSP_UART_IRQHandler -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_TxHalfCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_TxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxHalfCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxCpltCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_ErrorCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_TxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_TxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxHalfCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AHRS_UpdateIMU (Thumb, 1480 bytes, Stack size 136 bytes, ahrs.o(.text.AHRS_UpdateIMU)) @@ -5431,28 +5418,28 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_GetEulr
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, filter.o(.text.__ARM_isfinite)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, filter.o(.text.__ARM_isfinite))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = __ARM_isfinite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   LowPassFilter2p_Reset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, filter.o(.text.__ARM_isfinitef)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, filter.o(.text.__ARM_isfinitef))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = __ARM_isfinitef
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   LowPassFilter2p_Reset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __ARM_isinf (Thumb, 52 bytes, Stack size 16 bytes, filter.o(.text.__ARM_isinf)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __ARM_isinf (Thumb, 52 bytes, Stack size 16 bytes, filter.o(.text.__ARM_isinf))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = __ARM_isinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   LowPassFilter2p_Apply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __ARM_isinff (Thumb, 28 bytes, Stack size 4 bytes, filter.o(.text.__ARM_isinff)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __ARM_isinff (Thumb, 28 bytes, Stack size 4 bytes, filter.o(.text.__ARM_isinff))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = __ARM_isinff
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Apply

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CRC16_Byte (Thumb, 42 bytes, Stack size 4 bytes, crc16.o(.text.CRC16_Byte)) @@ -5461,18 +5448,18 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   CRC16_Calc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, pid.o(.text.__ARM_isfinite)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, pid.o(.text.__ARM_isfinite))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __ARM_isfinite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Calc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, pid.o(.text.__ARM_isfinitef)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, pid.o(.text.__ARM_isfinitef))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = __ARM_isfinitef
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Calc

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BMI088_AcclIntCallback (Thumb, 20 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_AcclIntCallback)) @@ -5530,55 +5517,55 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_RM_CreateCANManager (Thumb, 150 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_CreateCANManager)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_RM_CreateCANManager (Thumb, 150 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_CreateCANManager))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 148 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = MOTOR_RM_CreateCANManager ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   BSP_Malloc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memclr4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_RM_Register +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_Register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_RM_GetCANManager (Thumb, 48 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetCANManager)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_RM_GetCANManager (Thumb, 48 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetCANManager))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = MOTOR_RM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_Update -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_SetOutput -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_Register -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_GetMotor -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_RM_Ctrl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_Update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_SetOutput +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_Register +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_GetMotor +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_Ctrl
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_RM_GetLSB (Thumb, 82 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetLSB)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_RM_GetLSB (Thumb, 82 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetLSB))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = MOTOR_RM_GetLSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_RM_SetOutput -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Motor_RM_Decode +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_RM_SetOutput +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Motor_RM_Decode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOTOR_RM_GetLogicalIndex (Thumb, 128 bytes, Stack size 12 bytes, motor_rm.o(.text.MOTOR_RM_GetLogicalIndex)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOTOR_RM_GetLogicalIndex (Thumb, 128 bytes, Stack size 12 bytes, motor_rm.o(.text.MOTOR_RM_GetLogicalIndex))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = MOTOR_RM_GetLogicalIndex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_RM_SetOutput +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_RM_SetOutput
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_RM_GetRatio (Thumb, 80 bytes, Stack size 12 bytes, motor_rm.o(.text.MOTOR_RM_GetRatio)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_RM_GetRatio (Thumb, 80 bytes, Stack size 12 bytes, motor_rm.o(.text.MOTOR_RM_GetRatio))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = MOTOR_RM_GetRatio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Motor_RM_Decode +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Motor_RM_Decode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Motor_RM_Decode (Thumb, 540 bytes, Stack size 48 bytes, motor_rm.o(.text.Motor_RM_Decode)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Motor_RM_Decode (Thumb, 540 bytes, Stack size 48 bytes, motor_rm.o(.text.Motor_RM_Decode))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 60
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = Motor_RM_Decode ⇒ MOTOR_RM_GetRatio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_GetRatio -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_RM_GetLSB +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_RM_GetRatio +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_RM_GetLSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_RM_Update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_RM_Update
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sbus_to_rc (Thumb, 656 bytes, Stack size 32 bytes, remote_control.o(.text.sbus_to_rc)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sbus_to_rc (Thumb, 656 bytes, Stack size 32 bytes, remote_control.o(.text.sbus_to_rc))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = sbus_to_rc ⇒ __aeabi_dmul

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   map @@ -5586,86 +5573,95 @@ Local Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_i2d
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_d2iz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   DMA1_Stream1_IRQHandler1 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   DMA1_Stream1_IRQHandler1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_DM_CreateCANManager (Thumb, 150 bytes, Stack size 16 bytes, motor_dm.o(.text.MOTOR_DM_CreateCANManager)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_DM_CreateCANManager (Thumb, 150 bytes, Stack size 16 bytes, motor_dm.o(.text.MOTOR_DM_CreateCANManager))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 148 + Unknown Stack Size
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = MOTOR_DM_CreateCANManager ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   BSP_Malloc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memclr4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   MOTOR_DM_Register +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_Register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_DM_GetCANManager (Thumb, 48 bytes, Stack size 8 bytes, motor_dm.o(.text.MOTOR_DM_GetCANManager)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_DM_GetCANManager (Thumb, 48 bytes, Stack size 8 bytes, motor_dm.o(.text.MOTOR_DM_GetCANManager))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = MOTOR_DM_GetCANManager
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_Update -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_Register -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   MOTOR_DM_GetMotor +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_DM_Update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_DM_Register +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   MOTOR_DM_GetMotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_DM_ParseFeedbackFrame (Thumb, 344 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_ParseFeedbackFrame)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_DM_ParseFeedbackFrame (Thumb, 344 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_ParseFeedbackFrame))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = MOTOR_DM_ParseFeedbackFrame ⇒ uint_to_float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   uint_to_float +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   uint_to_float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   MOTOR_DM_Update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_DM_Update
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_DM_SendMITCmd (Thumb, 324 bytes, Stack size 64 bytes, motor_dm.o(.text.MOTOR_DM_SendMITCmd)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_DM_SendMITCmd (Thumb, 324 bytes, Stack size 64 bytes, motor_dm.o(.text.MOTOR_DM_SendMITCmd))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 208
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BSP_CAN_TransmitStdDataFrame -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   float_to_uint +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   float_to_uint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   MOTOR_DM_MITCtrl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_DM_MITCtrl
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  float_to_uint (Thumb, 88 bytes, Stack size 24 bytes, motor_dm.o(.text.float_to_uint)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  float_to_uint (Thumb, 88 bytes, Stack size 24 bytes, motor_dm.o(.text.float_to_uint))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = float_to_uint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   MOTOR_DM_SendMITCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_DM_SendMITCmd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uint_to_float (Thumb, 82 bytes, Stack size 24 bytes, motor_dm.o(.text.uint_to_float)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uint_to_float (Thumb, 82 bytes, Stack size 24 bytes, motor_dm.o(.text.uint_to_float))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = uint_to_float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MOTOR_DM_ParseFeedbackFrame +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   MOTOR_DM_ParseFeedbackFrame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Gimbal_Direction (Thumb, 314 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_Direction)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Shoot_CaluCoupledWeight (Thumb, 248 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_CaluCoupledWeight)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = Shoot_CaluCoupledWeight ⇒ __aeabi_d2f +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_f2d +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_d2f +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Shoot_RunningFSM +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      + +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Gimbal_Direction (Thumb, 314 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_Direction))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = Gimbal_Direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_UpdateIMU +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_UpdateIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Gimbal_SetMode (Thumb, 200 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Gimbal_SetMode (Thumb, 200 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Reset -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LowPassFilter2p_Reset -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_ResetEulr +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   PID_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LowPassFilter2p_Reset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AHRS_ResetEulr
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            motor_imu_offset (Thumb, 128 bytes, Stack size 12 bytes, gimbal.o(.text.motor_imu_offset)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            motor_imu_offset (Thumb, 128 bytes, Stack size 12 bytes, gimbal.o(.text.motor_imu_offset))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = motor_imu_offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              poly (Thumb, 216 bytes, Stack size 32 bytes, gimbal.o(.text.poly)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              poly (Thumb, 216 bytes, Stack size 32 bytes, gimbal.o(.text.poly))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 288
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = poly ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_pow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dmul -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dadd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Control +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index e6f921c..48c1777 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -3554,7 +3554,6 @@ Section Cross References shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osDelay) for osDelay shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount - shoot_ctrl.o(.text.Task_shoot_ctrl) refers to config.o(.text.Config_ShootInit) for Config_ShootInit shoot_ctrl.o(.text.Task_shoot_ctrl) refers to config.o(.text.Config_GetRobotParam) for Config_GetRobotParam shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot) for shoot shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot.o(.text.Shoot_Init) for Shoot_Init @@ -3563,7 +3562,7 @@ Section Cross References shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot_cmd) for shoot_cmd shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osMessageQueueGet) for osMessageQueueGet shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.s_mode) for s_mode - shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot.o(.text.Chassis_UpdateFeedback) for Chassis_UpdateFeedback + shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot.o(.text.Shoot_UpdateFeedback) for Shoot_UpdateFeedback shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot.o(.text.Shoot_Control) for Shoot_Control shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil shoot_ctrl.o(.ARM.exidx.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.text.Task_shoot_ctrl) for [Anonymous Symbol] @@ -3588,10 +3587,6 @@ Section Cross References ai_1.o(.ARM.exidx.text.Task_ai) refers to ai_1.o(.text.Task_ai) for [Anonymous Symbol] config.o(.text.Config_GetRobotParam) refers to config.o(.data.robot_config) for robot_config config.o(.ARM.exidx.text.Config_GetRobotParam) refers to config.o(.text.Config_GetRobotParam) for [Anonymous Symbol] - config.o(.text.Config_ShootInit) refers to config.o(.data.robot_config) for robot_config - config.o(.text.Config_ShootInit) refers to mm.o(.text.BSP_Malloc) for BSP_Malloc - config.o(.text.Config_ShootInit) refers to mm.o(.text.BSP_Free) for BSP_Free - config.o(.ARM.exidx.text.Config_ShootInit) refers to config.o(.text.Config_ShootInit) for [Anonymous Symbol] shoot.o(.ARM.exidx.text.Shoot_SetMode) refers to shoot.o(.text.Shoot_SetMode) for [Anonymous Symbol] shoot.o(.text.Shoot_ResetIntegral) refers to pid.o(.text.PID_ResetIntegral) for PID_ResetIntegral shoot.o(.ARM.exidx.text.Shoot_ResetIntegral) refers to shoot.o(.text.Shoot_ResetIntegral) for [Anonymous Symbol] @@ -3603,31 +3598,31 @@ Section Cross References shoot.o(.text.Shoot_CaluTargetAngle) refers to user_math.o(.text.CircleError) for CircleError shoot.o(.text.Shoot_CaluTargetAngle) refers to user_math.o(.text.CircleAdd) for CircleAdd shoot.o(.ARM.exidx.text.Shoot_CaluTargetAngle) refers to shoot.o(.text.Shoot_CaluTargetAngle) for [Anonymous Symbol] - shoot.o(.text.Chassis_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_Update) for MOTOR_RM_Update - shoot.o(.text.Chassis_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_GetMotor) for MOTOR_RM_GetMotor - shoot.o(.text.Chassis_UpdateFeedback) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply - shoot.o(.text.Chassis_UpdateFeedback) refers to rt_memcpy_w.o(.text) for __aeabi_memcpy8 - shoot.o(.ARM.exidx.text.Chassis_UpdateFeedback) refers to shoot.o(.text.Chassis_UpdateFeedback) for [Anonymous Symbol] + shoot.o(.text.Shoot_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_Update) for MOTOR_RM_Update + shoot.o(.text.Shoot_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_GetMotor) for MOTOR_RM_GetMotor + shoot.o(.text.Shoot_UpdateFeedback) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply + shoot.o(.text.Shoot_UpdateFeedback) refers to rt_memcpy_w.o(.text) for __aeabi_memcpy8 + shoot.o(.ARM.exidx.text.Shoot_UpdateFeedback) refers to shoot.o(.text.Shoot_UpdateFeedback) for [Anonymous Symbol] shoot.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_Relax) for MOTOR_RM_Relax + shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.bss.Shoot_RunningFSM.pos) for Shoot_RunningFSM.pos shoot.o(.text.Shoot_RunningFSM) refers to pid.o(.text.PID_ResetIntegral) for PID_ResetIntegral shoot.o(.text.Shoot_RunningFSM) refers to pid.o(.text.PID_Calc) for PID_Calc shoot.o(.text.Shoot_RunningFSM) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply shoot.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_SetOutput) for MOTOR_RM_SetOutput - shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.bss.Shoot_RunningFSM.pos) for Shoot_RunningFSM.pos shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_ResetCalu) for Shoot_ResetCalu shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_ResetIntegral) for Shoot_ResetIntegral shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_ResetOutput) for Shoot_ResetOutput - shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_CaluTargetRPM) for Shoot_CaluTargetRPM - shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.bss.a) for a + shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_CaluCoupledWeight) for Shoot_CaluCoupledWeight shoot.o(.text.Shoot_RunningFSM) refers to user_math.o(.text.ScaleSumTo1) for ScaleSumTo1 shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.bss.last_firecmd) for last_firecmd shoot.o(.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_CaluTargetAngle) for Shoot_CaluTargetAngle shoot.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_Ctrl) for MOTOR_RM_Ctrl shoot.o(.ARM.exidx.text.Shoot_RunningFSM) refers to shoot.o(.text.Shoot_RunningFSM) for [Anonymous Symbol] + shoot.o(.text.Shoot_CaluCoupledWeight) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + shoot.o(.text.Shoot_CaluCoupledWeight) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + shoot.o(.ARM.exidx.text.Shoot_CaluCoupledWeight) refers to shoot.o(.text.Shoot_CaluCoupledWeight) for [Anonymous Symbol] shoot.o(.text.Shoot_JamDetectionFSM) refers to shoot.o(.text.Shoot_RunningFSM) for Shoot_RunningFSM shoot.o(.ARM.exidx.text.Shoot_JamDetectionFSM) refers to shoot.o(.text.Shoot_JamDetectionFSM) for [Anonymous Symbol] - shoot.o(.text.Shoot_Init) refers to mm.o(.text.BSP_Malloc) for BSP_Malloc - shoot.o(.text.Shoot_Init) refers to mm.o(.text.BSP_Free) for BSP_Free shoot.o(.text.Shoot_Init) refers to can_1.o(.text.BSP_CAN_Init) for BSP_CAN_Init shoot.o(.text.Shoot_Init) refers to motor_rm.o(.text.MOTOR_RM_Register) for MOTOR_RM_Register shoot.o(.text.Shoot_Init) refers to pid.o(.text.PID_Init) for PID_Init @@ -3635,6 +3630,7 @@ Section Cross References shoot.o(.ARM.exidx.text.Shoot_Init) refers to shoot.o(.text.Shoot_Init) for [Anonymous Symbol] shoot.o(.text.Shoot_Control) refers to time.o(.text.BSP_TIME_Get_us) for BSP_TIME_Get_us shoot.o(.text.Shoot_Control) refers to ffltll_clz.o(x$fpl$ffltll) for __aeabi_ul2f + shoot.o(.text.Shoot_Control) refers to shoot.o(.text.Shoot_CaluTargetRPM) for Shoot_CaluTargetRPM shoot.o(.text.Shoot_Control) refers to shoot.o(.text.Shoot_JamDetectionFSM) for Shoot_JamDetectionFSM shoot.o(.ARM.exidx.text.Shoot_Control) refers to shoot.o(.text.Shoot_Control) for [Anonymous Symbol] gimbal.o(.text.Gimbal_Init) refers to pid.o(.text.PID_Init) for PID_Init @@ -6324,7 +6320,6 @@ Removing Unused input sections from the image. Removing ai_1.o(.ARM.exidx.text.Task_ai), (8 bytes). Removing config.o(.text), (0 bytes). Removing config.o(.ARM.exidx.text.Config_GetRobotParam), (8 bytes). - Removing config.o(.ARM.exidx.text.Config_ShootInit), (8 bytes). Removing shoot.o(.text), (0 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_SetMode), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_ResetIntegral), (8 bytes). @@ -6332,11 +6327,13 @@ Removing Unused input sections from the image. Removing shoot.o(.ARM.exidx.text.Shoot_ResetOutput), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_CaluTargetRPM), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_CaluTargetAngle), (8 bytes). - Removing shoot.o(.ARM.exidx.text.Chassis_UpdateFeedback), (8 bytes). + Removing shoot.o(.ARM.exidx.text.Shoot_UpdateFeedback), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_RunningFSM), (8 bytes). + Removing shoot.o(.ARM.exidx.text.Shoot_CaluCoupledWeight), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_JamDetectionFSM), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_Init), (8 bytes). Removing shoot.o(.ARM.exidx.text.Shoot_Control), (8 bytes). + Removing shoot.o(.bss.a), (4 bytes). Removing gimbal.o(.text), (0 bytes). Removing gimbal.o(.ARM.exidx.text.Gimbal_Init), (8 bytes). Removing gimbal.o(.ARM.exidx.text.Gimbal_UpdateFeedback), (8 bytes). @@ -6352,7 +6349,7 @@ Removing Unused input sections from the image. Removing remote_cmd.o(.ARM.exidx.text.remote_ParseHost), (8 bytes). Removing remote_cmd.o(.ARM.exidx.text.shoot_remote_cmd), (8 bytes). -2109 unused section(s) (total 130684 bytes) removed from the image. +2110 unused section(s) (total 130688 bytes) removed from the image. ============================================================================== @@ -6796,813 +6793,812 @@ Image Symbol Table [Anonymous Symbol] 0x08003778 Section 0 crc16.o(.text.CRC16_Byte) [Anonymous Symbol] 0x080037a4 Section 0 crc16.o(.text.CRC16_Calc) [Anonymous Symbol] 0x080037dc Section 0 crc16.o(.text.CRC16_Verify) - [Anonymous Symbol] 0x08003834 Section 0 shoot.o(.text.Chassis_UpdateFeedback) - [Anonymous Symbol] 0x08003afc Section 0 user_math.o(.text.CircleAdd) - [Anonymous Symbol] 0x08003b80 Section 0 user_math.o(.text.CircleError) - [Anonymous Symbol] 0x08003c1c Section 0 user_math.o(.text.Clip) - [Anonymous Symbol] 0x08003c68 Section 0 config.o(.text.Config_GetRobotParam) - [Anonymous Symbol] 0x08003c74 Section 0 config.o(.text.Config_ShootInit) - [Anonymous Symbol] 0x08003d98 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - [Anonymous Symbol] 0x08003dac Section 0 remote_control.o(.text.DMA1_Stream1_IRQHandler1) - [Anonymous Symbol] 0x08003e04 Section 0 stm32f4xx_it.o(.text.DMA1_Stream5_IRQHandler) - [Anonymous Symbol] 0x08003e14 Section 0 stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler) - [Anonymous Symbol] 0x08003e24 Section 0 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - [Anonymous Symbol] 0x08003e34 Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - [Anonymous Symbol] 0x08003e44 Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - [Anonymous Symbol] 0x08003e54 Section 0 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) - [Anonymous Symbol] 0x08003e64 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - [Anonymous Symbol] 0x08003e74 Section 0 stm32f4xx_it.o(.text.DMA2_Stream7_IRQHandler) - DMA_CalcBaseAndBitshift 0x08003e85 Thumb Code 86 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - [Anonymous Symbol] 0x08003e84 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CheckFifoParam 0x08003edd Thumb Code 240 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - [Anonymous Symbol] 0x08003edc Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - DMA_SetConfig 0x08003fcd Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08003fcc Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x0800401c Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x08004020 Section 0 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - [Anonymous Symbol] 0x0800402c Section 0 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - [Anonymous Symbol] 0x08004038 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - [Anonymous Symbol] 0x08004044 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - [Anonymous Symbol] 0x08004050 Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x08004058 Section 0 gimbal.o(.text.Gimbal_Control) - __arm_cp.5_6 0x08004404 Number 4 gimbal.o(.text.Gimbal_Control) - Gimbal_Direction 0x0800465d Thumb Code 314 gimbal.o(.text.Gimbal_Direction) - [Anonymous Symbol] 0x0800465c Section 0 gimbal.o(.text.Gimbal_Direction) - [Anonymous Symbol] 0x08004798 Section 0 gimbal.o(.text.Gimbal_Init) - [Anonymous Symbol] 0x08004954 Section 0 gimbal.o(.text.Gimbal_Output) - Gimbal_SetMode 0x08004aed Thumb Code 200 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08004aec Section 0 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08004bb4 Section 0 gimbal.o(.text.Gimbal_UpdateFeedback) - [Anonymous Symbol] 0x08004dc0 Section 0 gimbal.o(.text.Gimbal_UpdateIMU) - [Anonymous Symbol] 0x08004e50 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x08004ea4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x08004ffc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x0800519c Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x080051ec Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08005240 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x08005454 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x080054c4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x080058b8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08005a98 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x08005c68 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08005cb8 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x08005d08 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08005d58 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x08005da8 Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x08005df8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x08005e84 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08005ed4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x08005f20 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x08005f70 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08005fc0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08006010 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08006060 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x080060b0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x0800619c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x080061e0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - [Anonymous Symbol] 0x080061f0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x08006510 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x08006680 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08006744 Section 0 stm32f4xx_hal.o(.text.HAL_Delay) - [Anonymous Symbol] 0x08006788 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - [Anonymous Symbol] 0x080067f0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - [Anonymous Symbol] 0x08006828 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x08006be0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - [Anonymous Symbol] 0x08006c10 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - [Anonymous Symbol] 0x08006c40 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x08006c4c Section 0 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - [Anonymous Symbol] 0x08006ca0 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - [Anonymous Symbol] 0x08006cb0 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - [Anonymous Symbol] 0x08006e2c Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - [Anonymous Symbol] 0x080071f8 Section 0 i2c_1.o(.text.HAL_I2C_ErrorCallback) - [Anonymous Symbol] 0x0800724c Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - [Anonymous Symbol] 0x080074f0 Section 0 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - [Anonymous Symbol] 0x08007544 Section 0 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - [Anonymous Symbol] 0x08007598 Section 0 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - [Anonymous Symbol] 0x080075e8 Section 0 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - [Anonymous Symbol] 0x0800763c Section 0 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - [Anonymous Symbol] 0x08007690 Section 0 i2c.o(.text.HAL_I2C_MspInit) - [Anonymous Symbol] 0x080077c4 Section 0 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - [Anonymous Symbol] 0x08007818 Section 0 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - [Anonymous 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0x08009934 Section 0 tim.o(.text.HAL_TIM_Base_MspInit) - [Anonymous Symbol] 0x080099c0 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - [Anonymous Symbol] 0x080099c8 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - [Anonymous Symbol] 0x08009be4 Section 0 tim.o(.text.HAL_TIM_MspPostInit) - [Anonymous Symbol] 0x08009c50 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - [Anonymous Symbol] 0x08009c58 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - [Anonymous Symbol] 0x08009d9c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - [Anonymous Symbol] 0x08009e38 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - [Anonymous Symbol] 0x08009e40 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - [Anonymous Symbol] 0x08009e48 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - [Anonymous Symbol] 0x0800a014 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - [Anonymous Symbol] 0x0800a01c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - [Anonymous Symbol] 0x0800a024 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - [Anonymous Symbol] 0x0800a030 Section 0 uart.o(.text.HAL_UART_ErrorCallback) - [Anonymous Symbol] 0x0800a084 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - [Anonymous Symbol] 0x0800a4e0 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - [Anonymous Symbol] 0x0800a580 Section 0 usart.o(.text.HAL_UART_MspInit) - [Anonymous Symbol] 0x0800aa78 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - [Anonymous Symbol] 0x0800aad0 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_IT) - [Anonymous Symbol] 0x0800ab28 Section 0 uart.o(.text.HAL_UART_RxCpltCallback) - [Anonymous Symbol] 0x0800ab7c Section 0 uart.o(.text.HAL_UART_RxHalfCpltCallback) - [Anonymous Symbol] 0x0800abd0 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) - [Anonymous Symbol] 0x0800accc Section 0 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4 timers.o(.bss.xTimerTaskHandle) + [Anonymous Symbol] 0x20008ac8 Section 0 timers.o(.bss.xTimerTaskHandle) + xYieldPending 0x20008acc Data 4 tasks.o(.bss.xYieldPending) + [Anonymous Symbol] 0x20008acc Section 0 tasks.o(.bss.xYieldPending) + Heap_Mem 0x20008ad0 Data 512 startup_stm32f407xx.o(HEAP) + HEAP 0x20008ad0 Section 512 startup_stm32f407xx.o(HEAP) + Stack_Mem 0x20008cd0 Data 1024 startup_stm32f407xx.o(STACK) + STACK 0x20008cd0 Section 1024 startup_stm32f407xx.o(STACK) + __initial_sp 0x200090d0 Data 0 startup_stm32f407xx.o(STACK) Global Symbols @@ -7837,459 +7833,457 @@ Image Symbol Table CAN2_TX_IRQHandler 0x08003711 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler) CRC16_Calc 0x080037a5 Thumb Code 54 crc16.o(.text.CRC16_Calc) CRC16_Verify 0x080037dd Thumb Code 88 crc16.o(.text.CRC16_Verify) - Chassis_UpdateFeedback 0x08003835 Thumb Code 712 shoot.o(.text.Chassis_UpdateFeedback) - CircleAdd 0x08003afd Thumb Code 132 user_math.o(.text.CircleAdd) - CircleError 0x08003b81 Thumb Code 154 user_math.o(.text.CircleError) - Clip 0x08003c1d Thumb Code 76 user_math.o(.text.Clip) - Config_GetRobotParam 0x08003c69 Thumb Code 10 config.o(.text.Config_GetRobotParam) - Config_ShootInit 0x08003c75 Thumb Code 292 config.o(.text.Config_ShootInit) - DMA1_Stream1_IRQHandler 0x08003d99 Thumb Code 20 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - DMA1_Stream1_IRQHandler1 0x08003dad Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1) - DMA1_Stream5_IRQHandler 0x08003e05 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream5_IRQHandler) - DMA1_Stream6_IRQHandler 0x08003e15 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler) - DMA2_Stream1_IRQHandler 0x08003e25 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - DMA2_Stream2_IRQHandler 0x08003e35 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - DMA2_Stream3_IRQHandler 0x08003e45 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DMA2_Stream5_IRQHandler 0x08003e55 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) - DMA2_Stream6_IRQHandler 0x08003e65 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DMA2_Stream7_IRQHandler 0x08003e75 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream7_IRQHandler) - DebugMon_Handler 0x0800401d Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - EXTI0_IRQHandler 0x08004021 Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - EXTI3_IRQHandler 0x0800402d Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - EXTI4_IRQHandler 0x08004039 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x08004045 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x08004051 Thumb Code 6 main.o(.text.Error_Handler) - Gimbal_Control 0x08004059 Thumb Code 1540 gimbal.o(.text.Gimbal_Control) - Gimbal_Init 0x08004799 Thumb Code 442 gimbal.o(.text.Gimbal_Init) - Gimbal_Output 0x08004955 Thumb Code 406 gimbal.o(.text.Gimbal_Output) - Gimbal_UpdateFeedback 0x08004bb5 Thumb Code 522 gimbal.o(.text.Gimbal_UpdateFeedback) - Gimbal_UpdateIMU 0x08004dc1 Thumb Code 142 gimbal.o(.text.Gimbal_UpdateIMU) - HAL_CAN_ActivateNotification 0x08004e51 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - HAL_CAN_AddTxMessage 0x08004ea5 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - HAL_CAN_ConfigFilter 0x08004ffd Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - HAL_CAN_ErrorCallback 0x0800519d Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetRxFifoFillLevel 0x080051ed Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - HAL_CAN_GetRxMessage 0x08005241 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - HAL_CAN_GetTxMailboxesFreeLevel 0x08005455 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x080054c5 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x080058b9 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08005a99 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x08005c69 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08005cb9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x08005d09 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08005d59 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x08005da9 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x08005df9 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x08005e85 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x08005ed5 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x08005f21 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x08005f71 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08005fc1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08006011 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08006061 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x080060b1 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x0800619d Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_GetState 0x080061e1 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - HAL_DMA_IRQHandler 0x080061f1 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x08006511 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08006681 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08006745 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08006789 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x080067f1 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08006829 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x08006be1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x08006c11 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08006c41 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_AbortCpltCallback 0x08006c4d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - HAL_I2C_AddrCallback 0x08006ca1 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - HAL_I2C_ER_IRQHandler 0x08006cb1 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - HAL_I2C_EV_IRQHandler 0x08006e2d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - HAL_I2C_ErrorCallback 0x080071f9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) - HAL_I2C_Init 0x0800724d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_ListenCpltCallback 0x080074f1 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - HAL_I2C_MasterRxCpltCallback 0x08007545 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - HAL_I2C_MasterTxCpltCallback 0x08007599 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - HAL_I2C_MemRxCpltCallback 0x080075e9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - HAL_I2C_MemTxCpltCallback 0x0800763d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - HAL_I2C_MspInit 0x08007691 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) - HAL_I2C_SlaveRxCpltCallback 0x080077c5 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - HAL_I2C_SlaveTxCpltCallback 0x08007819 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - HAL_IncTick 0x0800786d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08007889 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x080078c1 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08007931 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08007989 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x0800799d Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x080079b1 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x080079e5 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x080079f5 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x08007c59 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x08007c65 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08007c89 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08007cad Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x08007d95 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x08008455 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x080084a9 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x080085a9 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x080087b9 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x08008a09 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08008ba1 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x08008bf5 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x08008c49 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x08008eed Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x08009291 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x080094a5 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x08009611 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x08009659 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x080096ad Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x08009701 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x08009755 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x08009765 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x0800976d Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x08009775 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08009899 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08009935 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_IC_CaptureCallback 0x080099c1 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x080099c9 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_MspPostInit 0x08009be5 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_OC_DelayElapsedCallback 0x08009c51 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x08009c59 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x08009d9d Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x08009e39 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x08009e41 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PWM_Start 0x08009e49 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PeriodElapsedCallback 0x0800a015 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x0800a01d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x0800a025 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x0800a031 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x0800a085 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x0800a4e1 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x0800a581 Thumb Code 1272 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x0800aa79 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_Receive_IT 0x0800aad1 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_IT) - HAL_UART_RxCpltCallback 0x0800ab29 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x0800ab7d Thumb Code 84 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HAL_UART_Transmit_DMA 0x0800abd1 Thumb Code 252 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) - HAL_UART_Transmit_IT 0x0800accd Thumb Code 114 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) - HAL_UART_TxCpltCallback 0x0800ad41 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) - HAL_UART_TxHalfCpltCallback 0x0800ad95 Thumb Code 80 uart.o(.text.HAL_UART_TxHalfCpltCallback) - HardFault_Handler 0x0800ade5 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) - I2C1_ER_IRQHandler 0x0800ade9 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) - I2C1_EV_IRQHandler 0x0800adf9 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) - InvSqrt 0x0800c2e5 Thumb Code 118 user_math.o(.text.InvSqrt) - LowPassFilter2p_Apply 0x0800c35d Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x0800c415 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x0800c551 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_DM_Enable 0x0800c67d Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) - MOTOR_DM_GetMotor 0x0800c729 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) - MOTOR_DM_MITCtrl 0x0800c7b1 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) - MOTOR_DM_Register 0x0800c951 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) - MOTOR_DM_Update 0x0800cbc1 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) - MOTOR_RM_Ctrl 0x0800cd65 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x0800cfd9 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800d0a1 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_Relax 0x0800d1c1 Thumb Code 24 motor_rm.o(.text.MOTOR_RM_Relax) - MOTOR_RM_SetOutput 0x0800d1d9 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x0800d2f5 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x0800d3f9 Thumb Code 78 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x0800d449 Thumb Code 78 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x0800d499 Thumb Code 242 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800d58d Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x0800d5cd Thumb Code 554 gpio.o(.text.MX_GPIO_Init) - MX_I2C1_Init 0x0800d7f9 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) - MX_I2C2_Init 0x0800d841 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) - MX_SPI1_Init 0x0800d889 Thumb Code 82 spi.o(.text.MX_SPI1_Init) - MX_SPI2_Init 0x0800d8dd Thumb Code 84 spi.o(.text.MX_SPI2_Init) - MX_TIM10_Init 0x0800d931 Thumb Code 142 tim.o(.text.MX_TIM10_Init) - MX_TIM7_Init 0x0800d9c1 Thumb Code 88 tim.o(.text.MX_TIM7_Init) - MX_USART1_UART_Init 0x0800da19 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) - MX_USART2_UART_Init 0x0800da59 Thumb Code 64 usart.o(.text.MX_USART2_UART_Init) - MX_USART3_UART_Init 0x0800da99 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x0800dae5 Thumb Code 64 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x0800db25 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x0800dd45 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x0800ddb5 Thumb Code 752 pid.o(.text.PID_Calc) - PID_Init 0x0800e0a5 Thumb Code 406 pid.o(.text.PID_Init) - PID_Reset 0x0800e23d Thumb Code 72 pid.o(.text.PID_Reset) - PID_ResetIntegral 0x0800e285 Thumb Code 38 pid.o(.text.PID_ResetIntegral) - PendSV_Handler 0x0800e2b1 Thumb Code 100 port.o(.text.PendSV_Handler) - RC_Init 0x0800e315 Thumb Code 148 bsp_rc.o(.text.RC_Init) - RC_restart 0x0800e3a9 Thumb Code 90 bsp_rc.o(.text.RC_restart) - SVC_Handler 0x0800e961 Thumb Code 36 port.o(.text.SVC_Handler) - ScaleSumTo1 0x0800e995 Thumb Code 104 user_math.o(.text.ScaleSumTo1) - Shoot_CaluTargetAngle 0x0800e9fd Thumb Code 244 shoot.o(.text.Shoot_CaluTargetAngle) - Shoot_CaluTargetRPM 0x0800eaf1 Thumb Code 92 shoot.o(.text.Shoot_CaluTargetRPM) - Shoot_Control 0x0800eb4d Thumb Code 152 shoot.o(.text.Shoot_Control) - Shoot_Init 0x0800ebe5 Thumb Code 844 shoot.o(.text.Shoot_Init) - Shoot_JamDetectionFSM 0x0800ef31 Thumb Code 432 shoot.o(.text.Shoot_JamDetectionFSM) - Shoot_ResetCalu 0x0800f0e1 Thumb Code 212 shoot.o(.text.Shoot_ResetCalu) - Shoot_ResetIntegral 0x0800f1b5 Thumb Code 132 shoot.o(.text.Shoot_ResetIntegral) - Shoot_ResetOutput 0x0800f239 Thumb Code 140 shoot.o(.text.Shoot_ResetOutput) - Shoot_RunningFSM 0x0800f2c5 Thumb Code 1724 shoot.o(.text.Shoot_RunningFSM) - Shoot_SetMode 0x0800f981 Thumb Code 52 shoot.o(.text.Shoot_SetMode) - StartDefaultTask 0x0800f9b5 Thumb Code 18 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x0800fa1d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x0800fa35 Thumb Code 188 main.o(.text.SystemClock_Config) - SystemInit 0x0800faf1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM7_IRQHandler 0x0800fb05 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) - TIM_Base_SetConfig 0x0800fb15 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x0800fcb9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x0800fddd Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) - Task_Init 0x08010069 Thumb Code 308 init.o(.text.Task_Init) - Task_ai 0x080101a1 Thumb Code 208 ai_1.o(.text.Task_ai) - Task_atti_esti 0x08010271 Thumb Code 700 atti_esti.o(.text.Task_atti_esti) - Task_gimbal_ctrl 0x08010531 Thumb Code 428 gimbal_ctrl.o(.text.Task_gimbal_ctrl) - Task_remote 0x080106e1 Thumb Code 232 remote.o(.text.Task_remote) - Task_shoot_ctrl 0x080107c9 Thumb Code 220 shoot_ctrl.o(.text.Task_shoot_ctrl) - UART_Start_Receive_DMA 0x08010f0d Thumb Code 304 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) - UART_Start_Receive_IT 0x0801103d Thumb Code 98 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT) - USART1_IRQHandler 0x08011135 Thumb Code 28 stm32f4xx_it.o(.text.USART1_IRQHandler) - USART2_IRQHandler 0x08011151 Thumb Code 28 stm32f4xx_it.o(.text.USART2_IRQHandler) - USART3_IRQHandler 0x0801116d Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) - USART3_IRQHandler1 0x0801118d Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) - USART6_IRQHandler 0x080111b1 Thumb Code 28 stm32f4xx_it.o(.text.USART6_IRQHandler) - UsageFault_Handler 0x080111cd Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) - configureTimerForRunTimeStats 0x080113cd Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) - delay_init 0x080113f1 Thumb Code 62 bsp_delay.o(.text.delay_init) - eTaskGetState 0x08011431 Thumb Code 246 tasks.o(.text.eTaskGetState) - getRunTimeCounterValue 0x08011581 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) - main 0x08011585 Thumb Code 88 main.o(.text.main) - major_yaw_Control 0x080115dd Thumb Code 44 gimbal.o(.text.major_yaw_Control) - map 0x08011609 Thumb Code 42 calc_lib.o(.text.map) - osDelay 0x080116b5 Thumb Code 52 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x080116e9 Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) - osKernelGetState 0x08011741 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) - osKernelGetTickCount 0x08011795 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x080117bd Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x080117c5 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x0801180d Thumb Code 86 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x08011865 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x080118b9 Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x08011929 Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x080119e9 Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x08011ae9 Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) - osMessageQueueReset 0x08011bad Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) - osMutexAcquire 0x08011bed Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) - osMutexNew 0x08011c8d Thumb Code 296 cmsis_os2.o(.text.osMutexNew) - osMutexRelease 0x08011db5 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsSet 0x08011e35 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) - osThreadFlagsWait 0x08011ed9 Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x08011ff5 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x08012005 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x08012161 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 0x08013199 Thumb Code 492 heap_4.o(.text.pvPortMalloc) - pvTaskIncrementMutexHeldCount 0x08013385 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) - pxPortInitialiseStack 0x080133b1 Thumb Code 94 port.o(.text.pxPortInitialiseStack) - 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list.o(.text.vListInsert) - vListInsertEnd 0x080139e5 Thumb Code 58 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x08013a35 Thumb Code 86 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08013a8d Thumb Code 74 port.o(.text.vPortExitCritical) - vPortFree 0x08013ad9 Thumb Code 206 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08013ba9 Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08013bed Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08013c71 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08013cc5 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08013d29 Thumb Code 110 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x08013d99 Thumb Code 276 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08013ead Thumb Code 270 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08013fbd Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08013fe1 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08013ff1 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08014035 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x08014089 Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x080141bd Thumb Code 228 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x080142a1 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x080142b1 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08014431 Thumb Code 342 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08014589 Thumb Code 60 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x080145c5 Thumb Code 38 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x080145ed Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) - 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Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fpl_fretinf 0x08018a2d Thumb Code 10 fretinf.o(x$fpl$fretinf) - __fpl_return_NaN 0x08018a37 Thumb Code 100 retnan.o(x$fpl$retnan) - __ARM_scalbn 0x08018a9b Thumb Code 92 scalbn.o(x$fpl$scalbn) - __fpl_cmpreturn 0x08018af7 Thumb Code 48 trapv.o(x$fpl$trapveneer) - __I$use$fp 0x08018b26 Number 0 usenofp.o(x$fpl$usenofp) - __mathlib_zero 0x08018c48 Data 8 qnan.o(.constdata) - AHBPrescTable 0x08018c70 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08018c80 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_ai 0x08018cd0 Data 36 user_task.o(.rodata.attr_ai) - attr_atti_esti 0x08018cf4 Data 36 user_task.o(.rodata.attr_atti_esti) - attr_gimbal_ctrl 0x08018d18 Data 36 user_task.o(.rodata.attr_gimbal_ctrl) - attr_init 0x08018d3c Data 36 user_task.o(.rodata.attr_init) - attr_remote 0x08018d60 Data 36 user_task.o(.rodata.attr_remote) - attr_shoot_ctrl 0x08018d84 Data 36 user_task.o(.rodata.attr_shoot_ctrl) - defaultTask_attributes 0x08018fa8 Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08019040 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08019060 Number 0 anon$$obj.o(Region$$Table) + CircleAdd 0x08003835 Thumb Code 132 user_math.o(.text.CircleAdd) + CircleError 0x080038b9 Thumb Code 154 user_math.o(.text.CircleError) + Clip 0x08003955 Thumb Code 76 user_math.o(.text.Clip) + Config_GetRobotParam 0x080039a1 Thumb Code 10 config.o(.text.Config_GetRobotParam) + DMA1_Stream1_IRQHandler 0x080039ad Thumb Code 20 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA1_Stream1_IRQHandler1 0x080039c1 Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1) + DMA1_Stream5_IRQHandler 0x08003a19 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream5_IRQHandler) + DMA1_Stream6_IRQHandler 0x08003a29 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler) + DMA2_Stream1_IRQHandler 0x08003a39 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) + DMA2_Stream2_IRQHandler 0x08003a49 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x08003a59 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DMA2_Stream5_IRQHandler 0x08003a69 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) + DMA2_Stream6_IRQHandler 0x08003a79 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DMA2_Stream7_IRQHandler 0x08003a89 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream7_IRQHandler) + DebugMon_Handler 0x08003c31 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + EXTI0_IRQHandler 0x08003c35 Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) + EXTI3_IRQHandler 0x08003c41 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) + EXTI4_IRQHandler 0x08003c4d Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x08003c59 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x08003c65 Thumb Code 6 main.o(.text.Error_Handler) + Gimbal_Control 0x08003c6d Thumb Code 1540 gimbal.o(.text.Gimbal_Control) + Gimbal_Init 0x080043ad Thumb Code 442 gimbal.o(.text.Gimbal_Init) + Gimbal_Output 0x08004569 Thumb Code 406 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x080047c9 Thumb Code 522 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x080049d5 Thumb Code 142 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x08004a65 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x08004ab9 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x08004c11 Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x08004db1 Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08004e01 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x08004e55 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x08005069 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x080050d9 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x080054cd Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x080056ad Thumb Code 464 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x0800587d Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x080058cd Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x0800591d Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x0800596d Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x080059bd Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08005a0d Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x08005a99 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08005ae9 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08005b35 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x08005b85 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08005bd5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08005c25 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08005c75 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x08005cc5 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x08005db1 Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_GetState 0x08005df5 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) + HAL_DMA_IRQHandler 0x08005e05 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08006125 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08006295 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08006359 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x0800639d Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08006405 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x0800643d Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x080067f5 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x08006825 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08006855 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_AbortCpltCallback 0x08006861 Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) + HAL_I2C_AddrCallback 0x080068b5 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) + HAL_I2C_ER_IRQHandler 0x080068c5 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) + HAL_I2C_EV_IRQHandler 0x08006a41 Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) + HAL_I2C_ErrorCallback 0x08006e0d Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) + HAL_I2C_Init 0x08006e61 Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_ListenCpltCallback 0x08007105 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) + HAL_I2C_MasterRxCpltCallback 0x08007159 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) + HAL_I2C_MasterTxCpltCallback 0x080071ad Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) + HAL_I2C_MemRxCpltCallback 0x080071fd Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) + HAL_I2C_MemTxCpltCallback 0x08007251 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) + HAL_I2C_MspInit 0x080072a5 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) + HAL_I2C_SlaveRxCpltCallback 0x080073d9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) + HAL_I2C_SlaveTxCpltCallback 0x0800742d Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) + HAL_IncTick 0x08007481 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x0800749d Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x080074d5 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08007545 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x0800759d Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x080075b1 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x080075c5 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x080075f9 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08007609 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x0800786d Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x08007879 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x0800789d Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x080078c1 Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080079a9 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x08008069 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x080080bd Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x080081bd Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x080083cd Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x0800861d Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x080087b5 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x08008809 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x0800885d Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x08008b01 Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x08008ea5 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x080090b9 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x08009225 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x0800926d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x080092c1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x08009315 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08009369 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08009379 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x08009381 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08009389 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x080094ad Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08009549 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x080095d5 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x080095dd Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x080097f9 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x08009865 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x0800986d Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x080099b1 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08009a4d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x08009a55 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x08009a5d Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x08009c29 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08009c31 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x08009c39 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x08009c45 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x08009c99 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x0800a0f5 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x0800a195 Thumb Code 1272 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x0800a68d Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_Receive_IT 0x0800a6e5 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_IT) + HAL_UART_RxCpltCallback 0x0800a73d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x0800a791 Thumb Code 84 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HAL_UART_Transmit_DMA 0x0800a7e5 Thumb Code 252 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) + HAL_UART_Transmit_IT 0x0800a8e1 Thumb Code 114 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) + HAL_UART_TxCpltCallback 0x0800a955 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) + HAL_UART_TxHalfCpltCallback 0x0800a9a9 Thumb Code 80 uart.o(.text.HAL_UART_TxHalfCpltCallback) + HardFault_Handler 0x0800a9f9 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) + I2C1_ER_IRQHandler 0x0800a9fd Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) + I2C1_EV_IRQHandler 0x0800aa0d Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) + InvSqrt 0x0800bef9 Thumb Code 118 user_math.o(.text.InvSqrt) + LowPassFilter2p_Apply 0x0800bf71 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x0800c029 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x0800c165 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x0800c291 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800c33d Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x0800c3c5 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x0800c565 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x0800c7d5 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x0800c979 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x0800cbed Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x0800ccb5 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_Relax 0x0800cdd5 Thumb Code 24 motor_rm.o(.text.MOTOR_RM_Relax) + MOTOR_RM_SetOutput 0x0800cded Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800cf09 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x0800d00d Thumb Code 78 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x0800d05d Thumb Code 78 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x0800d0ad Thumb Code 242 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800d1a1 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800d1e1 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x0800d40d Thumb Code 72 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x0800d455 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x0800d49d Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_SPI2_Init 0x0800d4f1 Thumb Code 84 spi.o(.text.MX_SPI2_Init) + MX_TIM10_Init 0x0800d545 Thumb Code 142 tim.o(.text.MX_TIM10_Init) + MX_TIM7_Init 0x0800d5d5 Thumb Code 88 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x0800d62d Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) + MX_USART2_UART_Init 0x0800d66d Thumb Code 64 usart.o(.text.MX_USART2_UART_Init) + MX_USART3_UART_Init 0x0800d6ad Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x0800d6f9 Thumb Code 64 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x0800d739 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800d959 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800d9c9 Thumb Code 752 pid.o(.text.PID_Calc) + PID_Init 0x0800dcb9 Thumb Code 406 pid.o(.text.PID_Init) + PID_Reset 0x0800de51 Thumb Code 72 pid.o(.text.PID_Reset) + PID_ResetIntegral 0x0800de99 Thumb Code 38 pid.o(.text.PID_ResetIntegral) + PendSV_Handler 0x0800dec1 Thumb Code 100 port.o(.text.PendSV_Handler) + RC_Init 0x0800df25 Thumb Code 148 bsp_rc.o(.text.RC_Init) + RC_restart 0x0800dfb9 Thumb Code 90 bsp_rc.o(.text.RC_restart) + SVC_Handler 0x0800e571 Thumb Code 36 port.o(.text.SVC_Handler) + ScaleSumTo1 0x0800e5a5 Thumb Code 104 user_math.o(.text.ScaleSumTo1) + Shoot_CaluTargetAngle 0x0800e709 Thumb Code 204 shoot.o(.text.Shoot_CaluTargetAngle) + Shoot_CaluTargetRPM 0x0800e7d5 Thumb Code 90 shoot.o(.text.Shoot_CaluTargetRPM) + Shoot_Control 0x0800e831 Thumb Code 152 shoot.o(.text.Shoot_Control) + Shoot_Init 0x0800e8c9 Thumb Code 438 shoot.o(.text.Shoot_Init) + Shoot_JamDetectionFSM 0x0800ea81 Thumb Code 432 shoot.o(.text.Shoot_JamDetectionFSM) + Shoot_ResetCalu 0x0800ec31 Thumb Code 216 shoot.o(.text.Shoot_ResetCalu) + Shoot_ResetIntegral 0x0800ed09 Thumb Code 134 shoot.o(.text.Shoot_ResetIntegral) + Shoot_ResetOutput 0x0800ed91 Thumb Code 140 shoot.o(.text.Shoot_ResetOutput) + Shoot_RunningFSM 0x0800ee1d Thumb Code 1736 shoot.o(.text.Shoot_RunningFSM) + Shoot_SetMode 0x0800f4e5 Thumb Code 46 shoot.o(.text.Shoot_SetMode) + Shoot_UpdateFeedback 0x0800f515 Thumb Code 736 shoot.o(.text.Shoot_UpdateFeedback) + StartDefaultTask 0x0800f7f5 Thumb Code 18 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x0800f85d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x0800f875 Thumb Code 188 main.o(.text.SystemClock_Config) + SystemInit 0x0800f931 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM7_IRQHandler 0x0800f945 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) + TIM_Base_SetConfig 0x0800f955 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x0800faf9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x0800fc1d Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_Init 0x0800fea9 Thumb Code 308 init.o(.text.Task_Init) + Task_ai 0x0800ffe1 Thumb Code 208 ai_1.o(.text.Task_ai) + Task_atti_esti 0x080100b1 Thumb Code 700 atti_esti.o(.text.Task_atti_esti) + Task_gimbal_ctrl 0x08010371 Thumb Code 428 gimbal_ctrl.o(.text.Task_gimbal_ctrl) + Task_remote 0x08010521 Thumb Code 232 remote.o(.text.Task_remote) + Task_shoot_ctrl 0x08010609 Thumb Code 212 shoot_ctrl.o(.text.Task_shoot_ctrl) + UART_Start_Receive_DMA 0x08010d45 Thumb Code 304 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + UART_Start_Receive_IT 0x08010e75 Thumb Code 98 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT) + USART1_IRQHandler 0x08010f6d Thumb Code 28 stm32f4xx_it.o(.text.USART1_IRQHandler) + USART2_IRQHandler 0x08010f89 Thumb Code 28 stm32f4xx_it.o(.text.USART2_IRQHandler) + USART3_IRQHandler 0x08010fa5 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) + USART3_IRQHandler1 0x08010fc5 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) + USART6_IRQHandler 0x08010fe9 Thumb Code 28 stm32f4xx_it.o(.text.USART6_IRQHandler) + UsageFault_Handler 0x08011005 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) + configureTimerForRunTimeStats 0x08011205 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) + delay_init 0x08011229 Thumb Code 62 bsp_delay.o(.text.delay_init) + eTaskGetState 0x08011269 Thumb Code 246 tasks.o(.text.eTaskGetState) + getRunTimeCounterValue 0x080113b9 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) + main 0x080113bd Thumb Code 88 main.o(.text.main) + major_yaw_Control 0x08011415 Thumb Code 44 gimbal.o(.text.major_yaw_Control) + map 0x08011441 Thumb Code 42 calc_lib.o(.text.map) + osDelay 0x080114ed Thumb Code 52 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x08011521 Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x08011579 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x080115cd Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x080115f5 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x080115fd Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x08011645 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0801169d Thumb Code 82 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x080116f1 Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x08011761 Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x08011821 Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x08011921 Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) + osMessageQueueReset 0x080119e5 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) + osMutexAcquire 0x08011a25 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x08011ac5 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x08011bed Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x08011c6d Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x08011d11 Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x08011e2d Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x08011e3d Thumb Code 346 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x08011f99 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x08012fd1 Thumb Code 492 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x080131bd Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x080131e9 Thumb Code 94 port.o(.text.pxPortInitialiseStack) + remote_ParseHost 0x08013249 Thumb Code 60 remote_cmd.o(.text.remote_ParseHost) + remote_control_init 0x08013285 Thumb Code 18 remote_control.o(.text.remote_control_init) + shoot_remote_cmd 0x08013529 Thumb Code 158 remote_cmd.o(.text.shoot_remote_cmd) + user_delay_ms 0x0801361d Thumb Code 46 calc_lib.o(.text.user_delay_ms) + user_delay_us 0x0801364d Thumb Code 68 calc_lib.o(.text.user_delay_us) + uxListRemove 0x08013691 Thumb Code 72 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x080136d9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08013705 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x08013731 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x0801373d Thumb Code 46 list.o(.text.vListInitialise) + vListInitialiseItem 0x0801376d Thumb Code 14 list.o(.text.vListInitialiseItem) + vListInsert 0x0801377d Thumb Code 106 list.o(.text.vListInsert) + vListInsertEnd 0x080137e9 Thumb Code 58 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08013839 Thumb Code 86 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08013891 Thumb Code 74 port.o(.text.vPortExitCritical) + vPortFree 0x080138dd Thumb Code 206 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x080139ad Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x080139f1 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08013a75 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08013ac9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08013b2d Thumb Code 110 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x08013b9d Thumb Code 276 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08013cb1 Thumb Code 270 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08013dc1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08013de5 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08013df5 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08013e39 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x08013e8d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x08013fc1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x080140a5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x080140b5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08014235 Thumb Code 342 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x0801438d Thumb Code 60 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x080143c9 Thumb Code 38 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x080143f1 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x08014425 Thumb Code 116 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08014499 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x080145a9 Thumb Code 186 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x08014665 Thumb Code 556 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x08014891 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x080149dd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08014a49 Thumb Code 476 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08014c25 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x08014d2d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x08014f59 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08014fc9 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x08015095 Thumb Code 158 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08015135 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08015205 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x0801537d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08015541 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08015555 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x0801558d Thumb Code 20 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x080155a1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x080155c1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x08015785 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x0801585d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08015949 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08015a59 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x08015b29 Thumb Code 390 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x08015cb1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x08015d45 Thumb Code 176 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x08015df5 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x08015e25 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x08015e4d Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x08015f79 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x08016251 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x08016451 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_cosf 0x080166fd Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_pow 0x08016851 Thumb Code 3088 pow.o(i.__hardfp_pow) + __hardfp_tanf 0x080174b1 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x0801762d Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_divzero 0x08017729 Thumb Code 28 dunder.o(i.__mathlib_dbl_divzero) + __mathlib_dbl_infnan 0x08017759 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x0801776d Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_invalid 0x08017781 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) + __mathlib_dbl_overflow 0x080177a1 Thumb Code 24 dunder.o(i.__mathlib_dbl_overflow) + __mathlib_dbl_underflow 0x080177c1 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x080177e1 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x080177e7 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x080177ed Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x080177fd Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x0801780d Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x08017961 Thumb Code 16 atan.o(i.atan) + fabs 0x08017971 Thumb Code 24 fabs.o(i.fabs) + sqrt 0x08017989 Thumb Code 110 sqrt.o(i.sqrt) + sqrtf 0x080179f7 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x08017a35 Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x08017a35 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x08017a3b Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x08017a3b Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x08017a41 Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x08017a47 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x08017a4d Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x08017a4d Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x08017ab1 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08017ab1 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcheck_NaN1 0x08017c01 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) + __fpl_dcmp_Inf 0x08017c11 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x08017c29 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08017c29 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x08017edd Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x08017edd Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2iz 0x08017f55 Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x08017f55 Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x08017fb5 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08017fb5 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x0801800f Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x0801800f Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_ui2d 0x0801803d Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x0801803d Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_cdcmple 0x08018065 Thumb Code 0 dleqf.o(x$fpl$dleqf) + _dcmple 0x08018065 Thumb Code 120 dleqf.o(x$fpl$dleqf) + __fpl_dcmple_InfNaN 0x080180c7 Thumb Code 0 dleqf.o(x$fpl$dleqf) + __aeabi_dmul 0x080180dd Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x080180dd Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x08018231 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x080182cd Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_cdrcmple 0x080182d9 Thumb Code 0 drleqf.o(x$fpl$drleqf) + _drcmple 0x080182d9 Thumb Code 108 drleqf.o(x$fpl$drleqf) + __aeabi_drsub 0x08018345 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x08018345 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + _dsqrt 0x0801835d Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) + __aeabi_dsub 0x080184f5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x080184f5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x080186d1 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x080186d1 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x08018727 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08018727 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x0801872d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x0801872d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x08018787 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x08018813 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x0801882b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x0801882b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x0801882d Thumb Code 10 fretinf.o(x$fpl$fretinf) + __fpl_return_NaN 0x08018837 Thumb Code 100 retnan.o(x$fpl$retnan) + __ARM_scalbn 0x0801889b Thumb Code 92 scalbn.o(x$fpl$scalbn) + __fpl_cmpreturn 0x080188f7 Thumb Code 48 trapv.o(x$fpl$trapveneer) + __I$use$fp 0x08018926 Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x08018a48 Data 8 qnan.o(.constdata) + AHBPrescTable 0x08018a70 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08018a80 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_ai 0x08018ad0 Data 36 user_task.o(.rodata.attr_ai) + attr_atti_esti 0x08018af4 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_gimbal_ctrl 0x08018b18 Data 36 user_task.o(.rodata.attr_gimbal_ctrl) + attr_init 0x08018b3c Data 36 user_task.o(.rodata.attr_init) + attr_remote 0x08018b60 Data 36 user_task.o(.rodata.attr_remote) + attr_shoot_ctrl 0x08018b84 Data 36 user_task.o(.rodata.attr_shoot_ctrl) + defaultTask_attributes 0x08018da8 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08018e40 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08018e60 Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) cali_bmi088 0x20000008 Data 12 atti_esti.o(.data.cali_bmi088) - robot_config 0x20000014 Data 648 config.o(.data.robot_config) - uwTickFreq 0x2000029c Data 1 stm32f4xx_hal.o(.data.uwTickFreq) - uwTickPrio 0x200002a0 Data 4 stm32f4xx_hal.o(.data.uwTickPrio) - __libspace_start 0x200002a8 Data 96 libspace.o(.bss) - __temporary_stack_top$libspace 0x20000308 Data 0 libspace.o(.bss) - R_mode 0x20000400 Data 2 remote.o(.bss.R_mode) - a 0x200004d8 Data 4 shoot.o(.bss.a) - ai 0x200004dc Data 72 ai_1.o(.bss.ai) - ai_cmd 0x20000524 Data 25 ai_1.o(.bss.ai_cmd) - ai_g_cmd 0x2000053d Data 25 gimbal_ctrl.o(.bss.ai_g_cmd) - bmi088 0x20000558 Data 48 atti_esti.o(.bss.bmi088) - defaultTaskHandle 0x200005b4 Data 4 freertos.o(.bss.defaultTaskHandle) - eulr_to_send 0x200005b8 Data 12 atti_esti.o(.bss.eulr_to_send) - g_feedback 0x200005cc Data 100 ai_1.o(.bss.g_feedback) - gimbal 0x20000630 Data 760 gimbal_ctrl.o(.bss.gimbal) - gimbal_ahrs 0x20000928 Data 20 atti_esti.o(.bss.gimbal_ahrs) - gimbal_cmd_ai 0x2000093c Data 20 gimbal_ctrl.o(.bss.gimbal_cmd_ai) - gimbal_cmd_remote 0x20000950 Data 20 gimbal_ctrl.o(.bss.gimbal_cmd_remote) - gimbal_imu 0x20000964 Data 52 gimbal_ctrl.o(.bss.gimbal_imu) - gimbal_to_send 0x20000998 Data 52 atti_esti.o(.bss.gimbal_to_send) - hcan1 0x200009d8 Data 40 can.o(.bss.hcan1) - hcan2 0x20000a00 Data 40 can.o(.bss.hcan2) - hdma_spi1_rx 0x20000a28 Data 96 spi.o(.bss.hdma_spi1_rx) - hdma_spi1_tx 0x20000a88 Data 96 spi.o(.bss.hdma_spi1_tx) - hdma_usart1_rx 0x20000ae8 Data 96 usart.o(.bss.hdma_usart1_rx) - hdma_usart1_tx 0x20000b48 Data 96 usart.o(.bss.hdma_usart1_tx) - hdma_usart2_rx 0x20000ba8 Data 96 usart.o(.bss.hdma_usart2_rx) - hdma_usart2_tx 0x20000c08 Data 96 usart.o(.bss.hdma_usart2_tx) - hdma_usart3_rx 0x20000c68 Data 96 usart.o(.bss.hdma_usart3_rx) - hdma_usart6_rx 0x20000cc8 Data 96 usart.o(.bss.hdma_usart6_rx) - hdma_usart6_tx 0x20000d28 Data 96 usart.o(.bss.hdma_usart6_tx) - hi2c1 0x20000d88 Data 84 i2c.o(.bss.hi2c1) - hi2c2 0x20000ddc Data 84 i2c.o(.bss.hi2c2) - hspi1 0x20000e30 Data 88 spi.o(.bss.hspi1) - hspi2 0x20000e88 Data 88 spi.o(.bss.hspi2) - htim10 0x20000ee0 Data 72 tim.o(.bss.htim10) - htim7 0x20000f28 Data 72 tim.o(.bss.htim7) - huart1 0x20000f70 Data 72 usart.o(.bss.huart1) - huart2 0x20000fb8 Data 72 usart.o(.bss.huart2) - huart3 0x20001000 Data 72 usart.o(.bss.huart3) - huart6 0x20001048 Data 72 usart.o(.bss.huart6) - imu 0x20001094 Data 52 remote.o(.bss.imu) - imu_temp_ctrl_pid 0x200010c8 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) - ist8310 0x20001108 Data 32 atti_esti.o(.bss.ist8310) - jiaozhun 0x20001128 Data 4 atti_esti.o(.bss.jiaozhun) - magn 0x20001130 Data 12 atti_esti.o(.bss.magn) - pxCurrentTCB 0x20001230 Data 4 tasks.o(.bss.pxCurrentTCB) - rc_ctrl 0x200016b0 Data 24 remote_control.o(.bss.rc_ctrl) - remote_cmd 0x200016c8 Data 20 remote.o(.bss.remote_cmd) - s_mode 0x200016dc Data 2 shoot_ctrl.o(.bss.s_mode) - shoot 0x200016f8 Data 408 shoot_ctrl.o(.bss.shoot) - shoot_cmd 0x20001890 Data 4 shoot_ctrl.o(.bss.shoot_cmd) - shoot_rc_cmd 0x20001894 Data 4 remote.o(.bss.shoot_rc_cmd) - task_runtime 0x20001898 Data 128 user_task.o(.bss.task_runtime) - uwTick 0x2000813c Data 4 stm32f4xx_hal.o(.bss.uwTick) - xQueueRegistry 0x200088a4 Data 64 queue.o(.bss.xQueueRegistry) + robot_config 0x20000014 Data 660 config.o(.data.robot_config) + uwTickFreq 0x200002a8 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) + uwTickPrio 0x200002ac Data 4 stm32f4xx_hal.o(.data.uwTickPrio) + __libspace_start 0x200002b8 Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x20000318 Data 0 libspace.o(.bss) + R_mode 0x20000410 Data 2 remote.o(.bss.R_mode) + ai 0x200004e8 Data 72 ai_1.o(.bss.ai) + ai_cmd 0x20000530 Data 25 ai_1.o(.bss.ai_cmd) + ai_g_cmd 0x20000549 Data 25 gimbal_ctrl.o(.bss.ai_g_cmd) + bmi088 0x20000568 Data 48 atti_esti.o(.bss.bmi088) + defaultTaskHandle 0x200005c4 Data 4 freertos.o(.bss.defaultTaskHandle) + eulr_to_send 0x200005c8 Data 12 atti_esti.o(.bss.eulr_to_send) + g_feedback 0x200005dc Data 100 ai_1.o(.bss.g_feedback) + gimbal 0x20000640 Data 760 gimbal_ctrl.o(.bss.gimbal) + gimbal_ahrs 0x20000938 Data 20 atti_esti.o(.bss.gimbal_ahrs) + gimbal_cmd_ai 0x2000094c Data 20 gimbal_ctrl.o(.bss.gimbal_cmd_ai) + gimbal_cmd_remote 0x20000960 Data 20 gimbal_ctrl.o(.bss.gimbal_cmd_remote) + gimbal_imu 0x20000974 Data 52 gimbal_ctrl.o(.bss.gimbal_imu) + gimbal_to_send 0x200009a8 Data 52 atti_esti.o(.bss.gimbal_to_send) + hcan1 0x200009e8 Data 40 can.o(.bss.hcan1) + hcan2 0x20000a10 Data 40 can.o(.bss.hcan2) + hdma_spi1_rx 0x20000a38 Data 96 spi.o(.bss.hdma_spi1_rx) + hdma_spi1_tx 0x20000a98 Data 96 spi.o(.bss.hdma_spi1_tx) + hdma_usart1_rx 0x20000af8 Data 96 usart.o(.bss.hdma_usart1_rx) + hdma_usart1_tx 0x20000b58 Data 96 usart.o(.bss.hdma_usart1_tx) + hdma_usart2_rx 0x20000bb8 Data 96 usart.o(.bss.hdma_usart2_rx) + hdma_usart2_tx 0x20000c18 Data 96 usart.o(.bss.hdma_usart2_tx) + hdma_usart3_rx 0x20000c78 Data 96 usart.o(.bss.hdma_usart3_rx) + hdma_usart6_rx 0x20000cd8 Data 96 usart.o(.bss.hdma_usart6_rx) + hdma_usart6_tx 0x20000d38 Data 96 usart.o(.bss.hdma_usart6_tx) + hi2c1 0x20000d98 Data 84 i2c.o(.bss.hi2c1) + hi2c2 0x20000dec Data 84 i2c.o(.bss.hi2c2) + hspi1 0x20000e40 Data 88 spi.o(.bss.hspi1) + hspi2 0x20000e98 Data 88 spi.o(.bss.hspi2) + htim10 0x20000ef0 Data 72 tim.o(.bss.htim10) + htim7 0x20000f38 Data 72 tim.o(.bss.htim7) + huart1 0x20000f80 Data 72 usart.o(.bss.huart1) + huart2 0x20000fc8 Data 72 usart.o(.bss.huart2) + huart3 0x20001010 Data 72 usart.o(.bss.huart3) + huart6 0x20001058 Data 72 usart.o(.bss.huart6) + imu 0x200010a4 Data 52 remote.o(.bss.imu) + imu_temp_ctrl_pid 0x200010d8 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) + ist8310 0x20001118 Data 32 atti_esti.o(.bss.ist8310) + jiaozhun 0x20001138 Data 4 atti_esti.o(.bss.jiaozhun) + magn 0x20001140 Data 12 atti_esti.o(.bss.magn) + pxCurrentTCB 0x20001240 Data 4 tasks.o(.bss.pxCurrentTCB) + rc_ctrl 0x200016c0 Data 24 remote_control.o(.bss.rc_ctrl) + remote_cmd 0x200016d8 Data 20 remote.o(.bss.remote_cmd) + s_mode 0x200016ec Data 2 shoot_ctrl.o(.bss.s_mode) + shoot 0x20001708 Data 816 shoot_ctrl.o(.bss.shoot) + shoot_cmd 0x20001a38 Data 3 shoot_ctrl.o(.bss.shoot_cmd) + shoot_rc_cmd 0x20001a3b Data 3 remote.o(.bss.shoot_rc_cmd) + task_runtime 0x20001a40 Data 128 user_task.o(.bss.task_runtime) + uwTick 0x200082e4 Data 4 stm32f4xx_hal.o(.bss.uwTick) + xQueueRegistry 0x20008a4c Data 64 queue.o(.bss.xQueueRegistry) @@ -8299,75 +8293,75 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00019308, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00019190]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00019118, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00018f90]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00019060, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00018e60, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o - 0x08000188 0x08000188 0x00000008 Code RO 3264 * !!!main c_w.l(__main.o) - 0x08000190 0x08000190 0x00000034 Code RO 3778 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000005a Code RO 3776 !!dczerorl2 c_w.l(__dczerorl2.o) + 0x08000188 0x08000188 0x00000008 Code RO 3263 * !!!main c_w.l(__main.o) + 0x08000190 0x08000190 0x00000034 Code RO 3777 !!!scatter c_w.l(__scatter.o) + 0x080001c4 0x080001c4 0x0000005a Code RO 3775 !!dczerorl2 c_w.l(__dczerorl2.o) 0x0800021e 0x0800021e 0x00000002 PAD - 0x08000220 0x08000220 0x0000001c Code RO 3780 !!handler_zi c_w.l(__scatter_zi.o) - 0x0800023c 0x0800023c 0x00000002 Code RO 3628 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x0800023e 0x0800023e 0x00000004 Code RO 3648 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3651 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3654 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3656 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3658 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3661 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3663 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3665 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3667 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3669 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3671 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3673 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3675 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3677 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3679 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3681 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3685 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3687 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3689 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3691 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000002 Code RO 3692 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) - 0x08000244 0x08000244 0x00000002 Code RO 3731 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) - 0x08000246 0x08000246 0x00000000 Code RO 3759 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3761 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3764 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3767 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3769 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3772 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000002 Code RO 3773 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000248 0x08000248 0x00000000 Code RO 3335 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000248 0x08000248 0x00000000 Code RO 3524 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000248 0x08000248 0x00000006 Code RO 3536 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800024e 0x0800024e 0x00000000 Code RO 3526 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800024e 0x0800024e 0x00000004 Code RO 3527 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000252 0x08000252 0x00000000 Code RO 3529 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000252 0x08000252 0x00000008 Code RO 3530 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800025a 0x0800025a 0x00000002 Code RO 3633 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800025c 0x0800025c 0x00000000 Code RO 3700 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800025c 0x0800025c 0x00000004 Code RO 3701 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000260 0x08000260 0x00000006 Code RO 3702 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x08000220 0x08000220 0x0000001c Code RO 3779 !!handler_zi c_w.l(__scatter_zi.o) + 0x0800023c 0x0800023c 0x00000002 Code RO 3627 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x0800023e 0x0800023e 0x00000004 Code RO 3647 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3650 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3653 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3655 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3657 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3660 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3662 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3664 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3666 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3668 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3670 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3672 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3674 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3676 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3678 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3680 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3684 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3686 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3688 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3690 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000002 Code RO 3691 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000244 0x08000244 0x00000002 Code RO 3730 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000246 0x08000246 0x00000000 Code RO 3758 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3760 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3763 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3766 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3768 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3771 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000002 Code RO 3772 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x08000248 0x08000248 0x00000000 Code RO 3334 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x08000248 0x08000248 0x00000000 Code RO 3523 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x08000248 0x08000248 0x00000006 Code RO 3535 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x0800024e 0x0800024e 0x00000000 Code RO 3525 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x0800024e 0x0800024e 0x00000004 Code RO 3526 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000252 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Code RO 3253 .text c_w.l(aeabi_memset4.o) + 0x08000496 0x08000496 0x0000004e Code RO 3257 .text c_w.l(rt_memclr_w.o) + 0x080004e4 0x080004e4 0x00000006 Code RO 3261 .text c_w.l(heapauxi.o) + 0x080004ea 0x080004ea 0x00000016 Code RO 3339 .text c_w.l(_rserrno.o) + 0x08000500 0x08000500 0x00000008 Code RO 3542 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x08000508 0x08000508 0x00000008 Code RO 3572 .text c_w.l(libspace.o) + 0x08000510 0x08000510 0x0000004a Code RO 3575 .text c_w.l(sys_stackheap_outer.o) + 0x0800055a 0x0800055a 0x00000012 Code RO 3616 .text c_w.l(exit.o) + 0x0800056c 0x0800056c 0x0000000c Code RO 3694 .text c_w.l(sys_exit.o) + 0x08000578 0x08000578 0x00000002 Code RO 3719 .text c_w.l(use_no_semi.o) + 0x0800057a 0x0800057a 0x00000000 Code RO 3721 .text c_w.l(indicate_semi.o) 0x0800057a 0x0800057a 0x00000002 PAD 0x0800057c 0x0800057c 0x0000015c Code RO 2545 .text.AHRS_GetEulr ahrs.o 0x080006d8 0x080006d8 0x00000284 Code RO 2539 .text.AHRS_Init ahrs.o @@ -8473,840 +8467,845 @@ Memory Map of the image 0x080037a4 0x080037a4 0x00000036 Code RO 2629 .text.CRC16_Calc crc16.o 0x080037da 0x080037da 0x00000002 PAD 0x080037dc 0x080037dc 0x00000058 Code RO 2633 .text.CRC16_Verify crc16.o - 0x08003834 0x08003834 0x000002c8 Code RO 3177 .text.Chassis_UpdateFeedback shoot.o - 0x08003afc 0x08003afc 0x00000084 Code RO 2754 .text.CircleAdd user_math.o - 0x08003b80 0x08003b80 0x0000009a Code RO 2752 .text.CircleError user_math.o - 0x08003c1a 0x08003c1a 0x00000002 PAD - 0x08003c1c 0x08003c1c 0x0000004c Code RO 2746 .text.Clip user_math.o - 0x08003c68 0x08003c68 0x0000000a Code RO 3153 .text.Config_GetRobotParam config.o - 0x08003c72 0x08003c72 0x00000002 PAD - 0x08003c74 0x08003c74 0x00000124 Code RO 3155 .text.Config_ShootInit config.o - 0x08003d98 0x08003d98 0x00000014 Code RO 184 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x08003dac 0x08003dac 0x00000056 Code RO 2988 .text.DMA1_Stream1_IRQHandler1 remote_control.o - 0x08003e02 0x08003e02 0x00000002 PAD - 0x08003e04 0x08003e04 0x00000010 Code RO 186 .text.DMA1_Stream5_IRQHandler stm32f4xx_it.o - 0x08003e14 0x08003e14 0x00000010 Code RO 188 .text.DMA1_Stream6_IRQHandler stm32f4xx_it.o - 0x08003e24 0x08003e24 0x00000010 Code RO 210 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o - 0x08003e34 0x08003e34 0x00000010 Code RO 212 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08003e44 0x08003e44 0x00000010 Code RO 214 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08003e54 0x08003e54 0x00000010 Code RO 222 .text.DMA2_Stream5_IRQHandler stm32f4xx_it.o - 0x08003e64 0x08003e64 0x00000010 Code RO 224 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o - 0x08003e74 0x08003e74 0x00000010 Code RO 226 .text.DMA2_Stream7_IRQHandler stm32f4xx_it.o - 0x08003e84 0x08003e84 0x00000056 Code RO 502 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x08003eda 0x08003eda 0x00000002 PAD - 0x08003edc 0x08003edc 0x000000f0 Code RO 500 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x08003fcc 0x08003fcc 0x00000050 Code RO 508 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x0800401c 0x0800401c 0x00000002 Code RO 174 .text.DebugMon_Handler stm32f4xx_it.o - 0x0800401e 0x0800401e 0x00000002 PAD - 0x08004020 0x08004020 0x0000000a Code RO 178 .text.EXTI0_IRQHandler stm32f4xx_it.o - 0x0800402a 0x0800402a 0x00000002 PAD - 0x0800402c 0x0800402c 0x0000000a Code RO 180 .text.EXTI3_IRQHandler stm32f4xx_it.o - 0x08004036 0x08004036 0x00000002 PAD - 0x08004038 0x08004038 0x0000000a Code RO 182 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x08004042 0x08004042 0x00000002 PAD - 0x08004044 0x08004044 0x0000000a Code RO 196 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x0800404e 0x0800404e 0x00000002 PAD - 0x08004050 0x08004050 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x08004056 0x08004056 0x00000002 PAD - 0x08004058 0x08004058 0x00000604 Code RO 3207 .text.Gimbal_Control gimbal.o - 0x0800465c 0x0800465c 0x0000013a Code RO 3203 .text.Gimbal_Direction gimbal.o - 0x08004796 0x08004796 0x00000002 PAD - 0x08004798 0x08004798 0x000001ba Code RO 3197 .text.Gimbal_Init gimbal.o - 0x08004952 0x08004952 0x00000002 PAD - 0x08004954 0x08004954 0x00000196 Code RO 3215 .text.Gimbal_Output gimbal.o - 0x08004aea 0x08004aea 0x00000002 PAD - 0x08004aec 0x08004aec 0x000000c8 Code RO 3209 .text.Gimbal_SetMode gimbal.o - 0x08004bb4 0x08004bb4 0x0000020a Code RO 3199 .text.Gimbal_UpdateFeedback gimbal.o - 0x08004dbe 0x08004dbe 0x00000002 PAD - 0x08004dc0 0x08004dc0 0x0000008e Code RO 3201 .text.Gimbal_UpdateIMU gimbal.o - 0x08004e4e 0x08004e4e 0x00000002 PAD - 0x08004e50 0x08004e50 0x00000052 Code RO 279 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x08004ea2 0x08004ea2 0x00000002 PAD - 0x08004ea4 0x08004ea4 0x00000156 Code RO 265 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x08004ffa 0x08004ffa 0x00000002 PAD - 0x08004ffc 0x08004ffc 0x0000019e Code RO 255 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x0800519a 0x0800519a 0x00000002 PAD - 0x0800519c 0x0800519c 0x00000050 Code RO 2242 .text.HAL_CAN_ErrorCallback can_1.o - 0x080051ec 0x080051ec 0x00000052 Code RO 277 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x0800523e 0x0800523e 0x00000002 PAD - 0x08005240 0x08005240 0x00000212 Code RO 275 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x08005452 0x08005452 0x00000002 PAD - 0x08005454 0x08005454 0x00000070 Code RO 269 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x080054c4 0x080054c4 0x000003f2 Code RO 283 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x080058b6 0x080058b6 0x00000002 PAD - 0x080058b8 0x080058b8 0x000001de Code RO 245 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08003834 0x08003834 0x00000084 Code RO 2754 .text.CircleAdd user_math.o + 0x080038b8 0x080038b8 0x0000009a Code RO 2752 .text.CircleError user_math.o + 0x08003952 0x08003952 0x00000002 PAD + 0x08003954 0x08003954 0x0000004c Code RO 2746 .text.Clip user_math.o + 0x080039a0 0x080039a0 0x0000000a Code RO 3153 .text.Config_GetRobotParam config.o + 0x080039aa 0x080039aa 0x00000002 PAD + 0x080039ac 0x080039ac 0x00000014 Code RO 184 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x080039c0 0x080039c0 0x00000056 Code RO 2988 .text.DMA1_Stream1_IRQHandler1 remote_control.o + 0x08003a16 0x08003a16 0x00000002 PAD + 0x08003a18 0x08003a18 0x00000010 Code RO 186 .text.DMA1_Stream5_IRQHandler stm32f4xx_it.o + 0x08003a28 0x08003a28 0x00000010 Code RO 188 .text.DMA1_Stream6_IRQHandler stm32f4xx_it.o + 0x08003a38 0x08003a38 0x00000010 Code RO 210 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o + 0x08003a48 0x08003a48 0x00000010 Code RO 212 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x08003a58 0x08003a58 0x00000010 Code RO 214 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x08003a68 0x08003a68 0x00000010 Code RO 222 .text.DMA2_Stream5_IRQHandler stm32f4xx_it.o + 0x08003a78 0x08003a78 0x00000010 Code RO 224 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x08003a88 0x08003a88 0x00000010 Code RO 226 .text.DMA2_Stream7_IRQHandler stm32f4xx_it.o + 0x08003a98 0x08003a98 0x00000056 Code RO 502 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x08003aee 0x08003aee 0x00000002 PAD + 0x08003af0 0x08003af0 0x000000f0 Code RO 500 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x08003be0 0x08003be0 0x00000050 Code RO 508 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x08003c30 0x08003c30 0x00000002 Code RO 174 .text.DebugMon_Handler stm32f4xx_it.o + 0x08003c32 0x08003c32 0x00000002 PAD + 0x08003c34 0x08003c34 0x0000000a Code RO 178 .text.EXTI0_IRQHandler stm32f4xx_it.o + 0x08003c3e 0x08003c3e 0x00000002 PAD + 0x08003c40 0x08003c40 0x0000000a Code RO 180 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x08003c4a 0x08003c4a 0x00000002 PAD + 0x08003c4c 0x08003c4c 0x0000000a Code RO 182 .text.EXTI4_IRQHandler stm32f4xx_it.o + 0x08003c56 0x08003c56 0x00000002 PAD + 0x08003c58 0x08003c58 0x0000000a Code RO 196 .text.EXTI9_5_IRQHandler stm32f4xx_it.o + 0x08003c62 0x08003c62 0x00000002 PAD + 0x08003c64 0x08003c64 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x08003c6a 0x08003c6a 0x00000002 PAD + 0x08003c6c 0x08003c6c 0x00000604 Code RO 3206 .text.Gimbal_Control gimbal.o + 0x08004270 0x08004270 0x0000013a Code RO 3202 .text.Gimbal_Direction gimbal.o + 0x080043aa 0x080043aa 0x00000002 PAD + 0x080043ac 0x080043ac 0x000001ba Code RO 3196 .text.Gimbal_Init gimbal.o + 0x08004566 0x08004566 0x00000002 PAD + 0x08004568 0x08004568 0x00000196 Code RO 3214 .text.Gimbal_Output gimbal.o + 0x080046fe 0x080046fe 0x00000002 PAD + 0x08004700 0x08004700 0x000000c8 Code RO 3208 .text.Gimbal_SetMode gimbal.o + 0x080047c8 0x080047c8 0x0000020a Code RO 3198 .text.Gimbal_UpdateFeedback gimbal.o + 0x080049d2 0x080049d2 0x00000002 PAD + 0x080049d4 0x080049d4 0x0000008e Code RO 3200 .text.Gimbal_UpdateIMU gimbal.o + 0x08004a62 0x08004a62 0x00000002 PAD + 0x08004a64 0x08004a64 0x00000052 Code RO 279 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x08004ab6 0x08004ab6 0x00000002 PAD + 0x08004ab8 0x08004ab8 0x00000156 Code RO 265 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08004c0e 0x08004c0e 0x00000002 PAD + 0x08004c10 0x08004c10 0x0000019e Code RO 255 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x08004dae 0x08004dae 0x00000002 PAD + 0x08004db0 0x08004db0 0x00000050 Code RO 2242 .text.HAL_CAN_ErrorCallback can_1.o + 0x08004e00 0x08004e00 0x00000052 Code RO 277 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x08004e52 0x08004e52 0x00000002 PAD + 0x08004e54 0x08004e54 0x00000212 Code RO 275 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x08005066 0x08005066 0x00000002 PAD + 0x08005068 0x08005068 0x00000070 Code RO 269 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x080050d8 0x080050d8 0x000003f2 Code RO 283 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x080054ca 0x080054ca 0x00000002 PAD + 0x080054cc 0x080054cc 0x000001de Code RO 245 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x080056aa 0x080056aa 0x00000002 PAD + 0x080056ac 0x080056ac 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x0800587c 0x0800587c 0x00000050 Code RO 2232 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x080058cc 0x080058cc 0x00000050 Code RO 2230 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x0800591c 0x0800591c 0x00000050 Code RO 2236 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x0800596c 0x0800596c 0x00000050 Code RO 2234 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x080059bc 0x080059bc 0x00000050 Code RO 2238 .text.HAL_CAN_SleepCallback can_1.o + 0x08005a0c 0x08005a0c 0x0000008a Code RO 257 .text.HAL_CAN_Start stm32f4xx_hal_can.o 0x08005a96 0x08005a96 0x00000002 PAD - 0x08005a98 0x08005a98 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o - 0x08005c68 0x08005c68 0x00000050 Code RO 2232 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08005cb8 0x08005cb8 0x00000050 Code RO 2230 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x08005d08 0x08005d08 0x00000050 Code RO 2236 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x08005d58 0x08005d58 0x00000050 Code RO 2234 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x08005da8 0x08005da8 0x00000050 Code RO 2238 .text.HAL_CAN_SleepCallback can_1.o - 0x08005df8 0x08005df8 0x0000008a Code RO 257 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x08005e82 0x08005e82 0x00000002 PAD - 0x08005e84 0x08005e84 0x00000050 Code RO 2224 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08005ed4 0x08005ed4 0x0000004c Code RO 2216 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x08005f20 0x08005f20 0x00000050 Code RO 2226 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x08005f70 0x08005f70 0x00000050 Code RO 2220 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08005fc0 0x08005fc0 0x00000050 Code RO 2228 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08006010 0x08006010 0x00000050 Code RO 2222 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08006060 0x08006060 0x00000050 Code RO 2240 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x080060b0 0x080060b0 0x000000ec Code RO 512 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x0800619c 0x0800619c 0x00000044 Code RO 514 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x080061e0 0x080061e0 0x0000000e Code RO 524 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o - 0x080061ee 0x080061ee 0x00000002 PAD - 0x080061f0 0x080061f0 0x0000031e Code RO 518 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x0800650e 0x0800650e 0x00000002 PAD - 0x08006510 0x08006510 0x0000016e Code RO 498 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x0800667e 0x0800667e 0x00000002 PAD - 0x08006680 0x08006680 0x000000c2 Code RO 510 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08006742 0x08006742 0x00000002 PAD - 0x08006744 0x08006744 0x00000042 Code RO 693 .text.HAL_Delay stm32f4xx_hal.o - 0x08006786 0x08006786 0x00000002 PAD - 0x08006788 0x08006788 0x00000066 Code RO 2305 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x080067ee 0x080067ee 0x00000002 PAD - 0x080067f0 0x080067f0 0x00000038 Code RO 472 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08006828 0x08006828 0x000003b6 Code RO 460 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x08006bde 0x08006bde 0x00000002 PAD - 0x08006be0 0x08006be0 0x0000002e Code RO 464 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x08006c0e 0x08006c0e 0x00000002 PAD - 0x08006c10 0x08006c10 0x0000002e Code RO 466 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x08006c3e 0x08006c3e 0x00000002 PAD - 0x08006c40 0x08006c40 0x0000000c Code RO 685 .text.HAL_GetTick stm32f4xx_hal.o - 0x08006c4c 0x08006c4c 0x00000054 Code RO 2346 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x08006ca0 0x08006ca0 0x00000010 Code RO 900 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x08006cb0 0x08006cb0 0x0000017a Code RO 888 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x08006e2a 0x08006e2a 0x00000002 PAD - 0x08006e2c 0x08006e2c 0x000003ca Code RO 856 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x080071f6 0x080071f6 0x00000002 PAD - 0x080071f8 0x080071f8 0x00000054 Code RO 2344 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x0800724c 0x0800724c 0x000002a4 Code RO 762 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x080074f0 0x080074f0 0x00000054 Code RO 2338 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x08007544 0x08007544 0x00000054 Code RO 2332 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x08007598 0x08007598 0x00000050 Code RO 2328 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x080075e8 0x080075e8 0x00000054 Code RO 2342 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x0800763c 0x0800763c 0x00000054 Code RO 2340 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x08007690 0x08007690 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x080077c4 0x080077c4 0x00000054 Code RO 2336 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x08007818 0x08007818 0x00000054 Code RO 2334 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x0800786c 0x0800786c 0x0000001a Code RO 683 .text.HAL_IncTick stm32f4xx_hal.o - 0x08007886 0x08007886 0x00000002 PAD - 0x08007888 0x08007888 0x00000036 Code RO 673 .text.HAL_Init stm32f4xx_hal.o + 0x08005a98 0x08005a98 0x00000050 Code RO 2224 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08005ae8 0x08005ae8 0x0000004c Code RO 2216 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08005b34 0x08005b34 0x00000050 Code RO 2226 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x08005b84 0x08005b84 0x00000050 Code RO 2220 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08005bd4 0x08005bd4 0x00000050 Code RO 2228 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08005c24 0x08005c24 0x00000050 Code RO 2222 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x08005c74 0x08005c74 0x00000050 Code RO 2240 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08005cc4 0x08005cc4 0x000000ec Code RO 512 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x08005db0 0x08005db0 0x00000044 Code RO 514 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08005df4 0x08005df4 0x0000000e Code RO 524 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x08005e02 0x08005e02 0x00000002 PAD + 0x08005e04 0x08005e04 0x0000031e Code RO 518 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x08006122 0x08006122 0x00000002 PAD + 0x08006124 0x08006124 0x0000016e Code RO 498 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08006292 0x08006292 0x00000002 PAD + 0x08006294 0x08006294 0x000000c2 Code RO 510 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08006356 0x08006356 0x00000002 PAD + 0x08006358 0x08006358 0x00000042 Code RO 693 .text.HAL_Delay stm32f4xx_hal.o + 0x0800639a 0x0800639a 0x00000002 PAD + 0x0800639c 0x0800639c 0x00000066 Code RO 2305 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08006402 0x08006402 0x00000002 PAD + 0x08006404 0x08006404 0x00000038 Code RO 472 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x0800643c 0x0800643c 0x000003b6 Code RO 460 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x080067f2 0x080067f2 0x00000002 PAD + 0x080067f4 0x080067f4 0x0000002e Code RO 464 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x08006822 0x08006822 0x00000002 PAD + 0x08006824 0x08006824 0x0000002e Code RO 466 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x08006852 0x08006852 0x00000002 PAD + 0x08006854 0x08006854 0x0000000c Code RO 685 .text.HAL_GetTick stm32f4xx_hal.o + 0x08006860 0x08006860 0x00000054 Code RO 2346 .text.HAL_I2C_AbortCpltCallback i2c_1.o + 0x080068b4 0x080068b4 0x00000010 Code RO 900 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o + 0x080068c4 0x080068c4 0x0000017a Code RO 888 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o + 0x08006a3e 0x08006a3e 0x00000002 PAD + 0x08006a40 0x08006a40 0x000003ca Code RO 856 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o + 0x08006e0a 0x08006e0a 0x00000002 PAD + 0x08006e0c 0x08006e0c 0x00000054 Code RO 2344 .text.HAL_I2C_ErrorCallback i2c_1.o + 0x08006e60 0x08006e60 0x000002a4 Code RO 762 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x08007104 0x08007104 0x00000054 Code RO 2338 .text.HAL_I2C_ListenCpltCallback i2c_1.o + 0x08007158 0x08007158 0x00000054 Code RO 2332 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 0x080071ac 0x080071ac 0x00000050 Code RO 2328 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o + 0x080071fc 0x080071fc 0x00000054 Code RO 2342 .text.HAL_I2C_MemRxCpltCallback i2c_1.o + 0x08007250 0x08007250 0x00000054 Code RO 2340 .text.HAL_I2C_MemTxCpltCallback i2c_1.o + 0x080072a4 0x080072a4 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o + 0x080073d8 0x080073d8 0x00000054 Code RO 2336 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 0x0800742c 0x0800742c 0x00000054 Code RO 2334 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o + 0x08007480 0x08007480 0x0000001a Code RO 683 .text.HAL_IncTick stm32f4xx_hal.o + 0x0800749a 0x0800749a 0x00000002 PAD + 0x0800749c 0x0800749c 0x00000036 Code RO 673 .text.HAL_Init stm32f4xx_hal.o + 0x080074d2 0x080074d2 0x00000002 PAD + 0x080074d4 0x080074d4 0x00000070 Code RO 675 .text.HAL_InitTick stm32f4xx_hal.o + 0x08007544 0x08007544 0x00000058 Code RO 237 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x0800759c 0x0800759c 0x00000014 Code RO 612 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x080075b0 0x080075b0 0x00000014 Code RO 608 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x080075c4 0x080075c4 0x00000032 Code RO 600 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080075f6 0x080075f6 0x00000002 PAD + 0x080075f8 0x080075f8 0x00000010 Code RO 596 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08007608 0x08007608 0x00000262 Code RO 328 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x0800786a 0x0800786a 0x00000002 PAD + 0x0800786c 0x0800786c 0x0000000c Code RO 338 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08007878 0x08007878 0x00000022 Code RO 340 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x0800789a 0x0800789a 0x00000002 PAD + 0x0800789c 0x0800789c 0x00000022 Code RO 342 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o 0x080078be 0x080078be 0x00000002 PAD - 0x080078c0 0x080078c0 0x00000070 Code RO 675 .text.HAL_InitTick stm32f4xx_hal.o - 0x08007930 0x08007930 0x00000058 Code RO 237 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08007988 0x08007988 0x00000014 Code RO 612 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800799c 0x0800799c 0x00000014 Code RO 608 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x080079b0 0x080079b0 0x00000032 Code RO 600 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x080079e2 0x080079e2 0x00000002 PAD - 0x080079e4 0x080079e4 0x00000010 Code RO 596 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080079f4 0x080079f4 0x00000262 Code RO 328 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08007c56 0x08007c56 0x00000002 PAD - 0x08007c58 0x08007c58 0x0000000c Code RO 338 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x08007c64 0x08007c64 0x00000022 Code RO 340 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x08007c86 0x08007c86 0x00000002 PAD - 0x08007c88 0x08007c88 0x00000022 Code RO 342 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x08007caa 0x08007caa 0x00000002 PAD - 0x08007cac 0x08007cac 0x000000e6 Code RO 330 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x08007d92 0x08007d92 0x00000002 PAD - 0x08007d94 0x08007d94 0x000006be Code RO 326 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08008452 0x08008452 0x00000002 PAD - 0x08008454 0x08008454 0x00000054 Code RO 2423 .text.HAL_SPI_ErrorCallback spi_1.o - 0x080084a8 0x080084a8 0x00000100 Code RO 934 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x080085a8 0x080085a8 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x080087b8 0x080087b8 0x0000024e Code RO 946 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08008a06 0x08008a06 0x00000002 PAD - 0x08008a08 0x08008a08 0x00000198 Code RO 982 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08008ba0 0x08008ba0 0x00000054 Code RO 2413 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x08008bf4 0x08008bf4 0x00000054 Code RO 2419 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08008c48 0x08008c48 0x000002a2 Code RO 942 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x08008eea 0x08008eea 0x00000002 PAD - 0x08008eec 0x08008eec 0x000003a2 Code RO 948 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x0800928e 0x0800928e 0x00000002 PAD - 0x08009290 0x08009290 0x00000214 Code RO 984 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x080094a4 0x080094a4 0x0000016c Code RO 974 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x08009610 0x08009610 0x00000048 Code RO 2409 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08009658 0x08009658 0x00000054 Code RO 2417 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x080096ac 0x080096ac 0x00000054 Code RO 2415 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x08009700 0x08009700 0x00000054 Code RO 2421 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08009754 0x08009754 0x00000010 Code RO 620 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08009764 0x08009764 0x00000008 Code RO 1374 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x0800976c 0x0800976c 0x00000008 Code RO 1370 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08009774 0x08009774 0x00000122 Code RO 1364 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08009896 0x08009896 0x00000002 PAD - 0x08009898 0x08009898 0x0000009c Code RO 1051 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08009934 0x08009934 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x080099be 0x080099be 0x00000002 PAD - 0x080099c0 0x080099c0 0x00000008 Code RO 1187 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x080099c8 0x080099c8 0x0000021a Code RO 1185 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08009be2 0x08009be2 0x00000002 PAD - 0x08009be4 0x08009be4 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x08009c50 0x08009c50 0x00000008 Code RO 1189 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x08009c58 0x08009c58 0x00000142 Code RO 1217 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x08009d9a 0x08009d9a 0x00000002 PAD - 0x08009d9c 0x08009d9c 0x0000009c Code RO 1105 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x08009e38 0x08009e38 0x00000008 Code RO 1107 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009e40 0x08009e40 0x00000008 Code RO 1191 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x08009e48 0x08009e48 0x000001ca Code RO 1113 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x0800a012 0x0800a012 0x00000002 PAD - 0x0800a014 0x0800a014 0x00000008 Code RO 1193 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x0800a01c 0x0800a01c 0x00000008 Code RO 1195 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x0800a024 0x0800a024 0x0000000c Code RO 1479 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x0800a030 0x0800a030 0x00000054 Code RO 2478 .text.HAL_UART_ErrorCallback uart.o - 0x0800a084 0x0800a084 0x0000045c Code RO 1471 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x0800a4e0 0x0800a4e0 0x0000009e Code RO 1387 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x0800a57e 0x0800a57e 0x00000002 PAD - 0x0800a580 0x0800a580 0x000004f8 Code RO 142 .text.HAL_UART_MspInit usart.o - 0x0800aa78 0x0800aa78 0x00000056 Code RO 1423 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x0800aace 0x0800aace 0x00000002 PAD - 0x0800aad0 0x0800aad0 0x00000056 Code RO 1411 .text.HAL_UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800ab26 0x0800ab26 0x00000002 PAD - 0x0800ab28 0x0800ab28 0x00000054 Code RO 2474 .text.HAL_UART_RxCpltCallback uart.o - 0x0800ab7c 0x0800ab7c 0x00000054 Code RO 2476 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x0800abd0 0x0800abd0 0x000000fc Code RO 1415 .text.HAL_UART_Transmit_DMA stm32f4xx_hal_uart.o - 0x0800accc 0x0800accc 0x00000072 Code RO 1409 .text.HAL_UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800ad3e 0x0800ad3e 0x00000002 PAD - 0x0800ad40 0x0800ad40 0x00000054 Code RO 2468 .text.HAL_UART_TxCpltCallback uart.o - 0x0800ad94 0x0800ad94 0x00000050 Code RO 2472 .text.HAL_UART_TxHalfCpltCallback uart.o - 0x0800ade4 0x0800ade4 0x00000004 Code RO 166 .text.HardFault_Handler stm32f4xx_it.o - 0x0800ade8 0x0800ade8 0x00000010 Code RO 200 .text.I2C1_ER_IRQHandler stm32f4xx_it.o - 0x0800adf8 0x0800adf8 0x00000010 Code RO 198 .text.I2C1_EV_IRQHandler stm32f4xx_it.o - 0x0800ae08 0x0800ae08 0x00000034 Code RO 858 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o - 0x0800ae3c 0x0800ae3c 0x00000156 Code RO 842 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o - 0x0800af92 0x0800af92 0x00000002 PAD - 0x0800af94 0x0800af94 0x00000024 Code RO 918 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o - 0x0800afb8 0x0800afb8 0x00000048 Code RO 2330 .text.I2C_Get i2c_1.o - 0x0800b000 0x0800b000 0x0000027a Code RO 854 .text.I2C_ITError stm32f4xx_hal_i2c.o - 0x0800b27a 0x0800b27a 0x00000002 PAD - 0x0800b27c 0x0800b27c 0x000001ac Code RO 874 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o - 0x0800b428 0x0800b428 0x0000016a Code RO 872 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800b592 0x0800b592 0x00000002 PAD - 0x0800b594 0x0800b594 0x000000de Code RO 868 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800b672 0x0800b672 0x00000002 PAD - 0x0800b674 0x0800b674 0x0000013e Code RO 866 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800b7b2 0x0800b7b2 0x00000002 PAD - 0x0800b7b4 0x0800b7b4 0x00000046 Code RO 862 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o - 0x0800b7fa 0x0800b7fa 0x00000002 PAD - 0x0800b7fc 0x0800b7fc 0x0000033e Code RO 864 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o - 0x0800bb3a 0x0800bb3a 0x00000002 PAD - 0x0800bb3c 0x0800bb3c 0x000000f0 Code RO 860 .text.I2C_Master_SB stm32f4xx_hal_i2c.o - 0x0800bc2c 0x0800bc2c 0x00000128 Code RO 870 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o - 0x0800bd54 0x0800bd54 0x0000002e Code RO 886 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o - 0x0800bd82 0x0800bd82 0x00000002 PAD - 0x0800bd84 0x0800bd84 0x0000006e Code RO 884 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800bdf2 0x0800bdf2 0x00000002 PAD - 0x0800bdf4 0x0800bdf4 0x0000002c Code RO 882 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800be20 0x0800be20 0x0000006c Code RO 880 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800be8c 0x0800be8c 0x000000ae Code RO 876 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o - 0x0800bf3a 0x0800bf3a 0x00000002 PAD - 0x0800bf3c 0x0800bf3c 0x000000e4 Code RO 890 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o - 0x0800c020 0x0800c020 0x0000024a Code RO 878 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o - 0x0800c26a 0x0800c26a 0x00000002 PAD - 0x0800c26c 0x0800c26c 0x00000078 Code RO 920 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o - 0x0800c2e4 0x0800c2e4 0x00000076 Code RO 2740 .text.InvSqrt user_math.o - 0x0800c35a 0x0800c35a 0x00000002 PAD - 0x0800c35c 0x0800c35c 0x000000b8 Code RO 2592 .text.LowPassFilter2p_Apply filter.o - 0x0800c414 0x0800c414 0x0000013c Code RO 2590 .text.LowPassFilter2p_Init filter.o - 0x0800c550 0x0800c550 0x00000092 Code RO 2598 .text.LowPassFilter2p_Reset filter.o - 0x0800c5e2 0x0800c5e2 0x00000002 PAD - 0x0800c5e4 0x0800c5e4 0x00000096 Code RO 3020 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x0800c67a 0x0800c67a 0x00000002 PAD - 0x0800c67c 0x0800c67c 0x0000007a Code RO 3044 .text.MOTOR_DM_Enable motor_dm.o - 0x0800c6f6 0x0800c6f6 0x00000002 PAD - 0x0800c6f8 0x0800c6f8 0x00000030 Code RO 3022 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x0800c728 0x0800c728 0x00000086 Code RO 3032 .text.MOTOR_DM_GetMotor motor_dm.o - 0x0800c7ae 0x0800c7ae 0x00000002 PAD - 0x0800c7b0 0x0800c7b0 0x00000048 Code RO 3030 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x0800c7f8 0x0800c7f8 0x00000158 Code RO 3026 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800c950 0x0800c950 0x0000012c Code RO 3018 .text.MOTOR_DM_Register motor_dm.o - 0x0800ca7c 0x0800ca7c 0x00000144 Code RO 3034 .text.MOTOR_DM_SendMITCmd motor_dm.o - 0x0800cbc0 0x0800cbc0 0x0000010c Code RO 3024 .text.MOTOR_DM_Update motor_dm.o - 0x0800cccc 0x0800cccc 0x00000096 Code RO 2910 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x0800cd62 0x0800cd62 0x00000002 PAD - 0x0800cd64 0x0800cd64 0x00000170 Code RO 2928 .text.MOTOR_RM_Ctrl motor_rm.o - 0x0800ced4 0x0800ced4 0x00000030 Code RO 2912 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800cf04 0x0800cf04 0x00000052 Code RO 2926 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800cf56 0x0800cf56 0x00000002 PAD - 0x0800cf58 0x0800cf58 0x00000080 Code RO 2924 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x0800cfd8 0x0800cfd8 0x00000078 Code RO 2922 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800d050 0x0800d050 0x00000050 Code RO 2934 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800d0a0 0x0800d0a0 0x00000120 Code RO 2908 .text.MOTOR_RM_Register motor_rm.o - 0x0800d1c0 0x0800d1c0 0x00000018 Code RO 2930 .text.MOTOR_RM_Relax motor_rm.o - 0x0800d1d8 0x0800d1d8 0x0000011a Code RO 2920 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800d2f2 0x0800d2f2 0x00000002 PAD - 0x0800d2f4 0x0800d2f4 0x00000102 Code RO 2914 .text.MOTOR_RM_Update motor_rm.o - 0x0800d3f6 0x0800d3f6 0x00000002 PAD - 0x0800d3f8 0x0800d3f8 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800d446 0x0800d446 0x00000002 PAD - 0x0800d448 0x0800d448 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800d496 0x0800d496 0x00000002 PAD - 0x0800d498 0x0800d498 0x000000f2 Code RO 71 .text.MX_DMA_Init dma.o - 0x0800d58a 0x0800d58a 0x00000002 PAD - 0x0800d58c 0x0800d58c 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800d5cc 0x0800d5cc 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800d7f6 0x0800d7f6 0x00000002 PAD - 0x0800d7f8 0x0800d7f8 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800d840 0x0800d840 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800d888 0x0800d888 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800d8da 0x0800d8da 0x00000002 PAD - 0x0800d8dc 0x0800d8dc 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800d930 0x0800d930 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800d9be 0x0800d9be 0x00000002 PAD - 0x0800d9c0 0x0800d9c0 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o - 0x0800da18 0x0800da18 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x0800da58 0x0800da58 0x00000040 Code RO 136 .text.MX_USART2_UART_Init usart.o - 0x0800da98 0x0800da98 0x0000004c Code RO 138 .text.MX_USART3_UART_Init usart.o - 0x0800dae4 0x0800dae4 0x00000040 Code RO 140 .text.MX_USART6_UART_Init usart.o - 0x0800db24 0x0800db24 0x00000004 Code RO 168 .text.MemManage_Handler stm32f4xx_it.o - 0x0800db28 0x0800db28 0x0000021c Code RO 2916 .text.Motor_RM_Decode motor_rm.o - 0x0800dd44 0x0800dd44 0x00000004 Code RO 164 .text.NMI_Handler stm32f4xx_it.o - 0x0800dd48 0x0800dd48 0x0000006c Code RO 606 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800ddb4 0x0800ddb4 0x000002f0 Code RO 2703 .text.PID_Calc pid.o - 0x0800e0a4 0x0800e0a4 0x00000196 Code RO 2695 .text.PID_Init pid.o - 0x0800e23a 0x0800e23a 0x00000002 PAD - 0x0800e23c 0x0800e23c 0x00000048 Code RO 2701 .text.PID_Reset pid.o - 0x0800e284 0x0800e284 0x00000026 Code RO 2705 .text.PID_ResetIntegral pid.o - 0x0800e2aa 0x0800e2aa 0x00000006 PAD - 0x0800e2b0 0x0800e2b0 0x00000064 Code RO 2200 .text.PendSV_Handler port.o - 0x0800e314 0x0800e314 0x00000094 Code RO 2784 .text.RC_Init bsp_rc.o - 0x0800e3a8 0x0800e3a8 0x0000005a Code RO 2788 .text.RC_restart bsp_rc.o - 0x0800e402 0x0800e402 0x00000002 PAD - 0x0800e404 0x0800e404 0x00000034 Code RO 980 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800e438 0x0800e438 0x00000016 Code RO 986 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800e44e 0x0800e44e 0x00000002 PAD - 0x0800e450 0x0800e450 0x00000016 Code RO 976 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800e466 0x0800e466 0x00000002 PAD - 0x0800e468 0x0800e468 0x00000016 Code RO 990 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800e47e 0x0800e47e 0x00000002 PAD - 0x0800e480 0x0800e480 0x000000a2 Code RO 988 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800e522 0x0800e522 0x00000002 PAD - 0x0800e524 0x0800e524 0x000000a6 Code RO 978 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800e5ca 0x0800e5ca 0x00000002 PAD - 0x0800e5cc 0x0800e5cc 0x00000086 Code RO 992 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800e652 0x0800e652 0x00000002 PAD - 0x0800e654 0x0800e654 0x000000e4 Code RO 950 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x0800e738 0x0800e738 0x000000cc Code RO 944 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800e804 0x0800e804 0x0000002e Code RO 2411 .text.SPI_Get spi_1.o - 0x0800e832 0x0800e832 0x00000002 PAD - 0x0800e834 0x0800e834 0x0000012c Code RO 1042 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800e960 0x0800e960 0x00000024 Code RO 2184 .text.SVC_Handler port.o - 0x0800e984 0x0800e984 0x0000000e Code RO 1978 .text.SVC_Setup cmsis_os2.o - 0x0800e992 0x0800e992 0x00000002 PAD - 0x0800e994 0x0800e994 0x00000068 Code RO 2760 .text.ScaleSumTo1 user_math.o - 0x0800e9fc 0x0800e9fc 0x000000f4 Code RO 3175 .text.Shoot_CaluTargetAngle shoot.o - 0x0800eaf0 0x0800eaf0 0x0000005c Code RO 3173 .text.Shoot_CaluTargetRPM shoot.o - 0x0800eb4c 0x0800eb4c 0x00000098 Code RO 3185 .text.Shoot_Control shoot.o - 0x0800ebe4 0x0800ebe4 0x0000034c Code RO 3183 .text.Shoot_Init shoot.o - 0x0800ef30 0x0800ef30 0x000001b0 Code RO 3181 .text.Shoot_JamDetectionFSM shoot.o - 0x0800f0e0 0x0800f0e0 0x000000d4 Code RO 3169 .text.Shoot_ResetCalu shoot.o - 0x0800f1b4 0x0800f1b4 0x00000084 Code RO 3167 .text.Shoot_ResetIntegral shoot.o - 0x0800f238 0x0800f238 0x0000008c Code RO 3171 .text.Shoot_ResetOutput shoot.o - 0x0800f2c4 0x0800f2c4 0x000006bc Code RO 3179 .text.Shoot_RunningFSM shoot.o - 0x0800f980 0x0800f980 0x00000034 Code RO 3165 .text.Shoot_SetMode shoot.o - 0x0800f9b4 0x0800f9b4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800f9c6 0x0800f9c6 0x00000002 PAD - 0x0800f9c8 0x0800f9c8 0x00000052 Code RO 622 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800fa1a 0x0800fa1a 0x00000002 PAD - 0x0800fa1c 0x0800fa1c 0x00000018 Code RO 176 .text.SysTick_Handler stm32f4xx_it.o - 0x0800fa34 0x0800fa34 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800faf0 0x0800faf0 0x00000012 Code RO 1518 .text.SystemInit system_stm32f4xx.o - 0x0800fb02 0x0800fb02 0x00000002 PAD - 0x0800fb04 0x0800fb04 0x00000010 Code RO 208 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800fb14 0x0800fb14 0x000001a4 Code RO 1055 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800fcb8 0x0800fcb8 0x00000036 Code RO 1089 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800fcee 0x0800fcee 0x00000002 PAD - 0x0800fcf0 0x0800fcf0 0x000000ea Code RO 1199 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800fdda 0x0800fdda 0x00000002 PAD - 0x0800fddc 0x0800fddc 0x000000f4 Code RO 1201 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800fed0 0x0800fed0 0x000000f2 Code RO 1203 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800ffc2 0x0800ffc2 0x00000002 PAD - 0x0800ffc4 0x0800ffc4 0x000000a4 Code RO 1205 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x08010068 0x08010068 0x00000134 Code RO 3062 .text.Task_Init init.o - 0x0801019c 0x0801019c 0x00000004 PAD - 0x080101a0 0x080101a0 0x000000d0 Code RO 3142 .text.Task_ai ai_1.o - 0x08010270 0x08010270 0x000002bc Code RO 3070 .text.Task_atti_esti atti_esti.o - 0x0801052c 0x0801052c 0x00000004 PAD - 0x08010530 0x08010530 0x000001ac Code RO 3116 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x080106dc 0x080106dc 0x00000004 PAD - 0x080106e0 0x080106e0 0x000000e8 Code RO 3091 .text.Task_remote remote.o - 0x080107c8 0x080107c8 0x000000dc Code RO 3130 .text.Task_shoot_ctrl shoot_ctrl.o - 0x080108a4 0x080108a4 0x0000001c Code RO 1475 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x080108c0 0x080108c0 0x0000007c Code RO 1421 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x0801093c 0x0801093c 0x000000f4 Code RO 1507 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o - 0x08010a30 0x08010a30 0x00000034 Code RO 1509 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o - 0x08010a64 0x08010a64 0x0000007a Code RO 1417 .text.UART_DMATransmitCplt stm32f4xx_hal_uart.o - 0x08010ade 0x08010ade 0x00000002 PAD - 0x08010ae0 0x08010ae0 0x00000016 Code RO 1419 .text.UART_DMATxHalfCplt stm32f4xx_hal_uart.o - 0x08010af6 0x08010af6 0x00000002 PAD - 0x08010af8 0x08010af8 0x00000094 Code RO 1435 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x08010b8c 0x08010b8c 0x00000026 Code RO 1483 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x08010bb2 0x08010bb2 0x00000002 PAD - 0x08010bb4 0x08010bb4 0x00000036 Code RO 1433 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o - 0x08010bea 0x08010bea 0x00000002 PAD - 0x08010bec 0x08010bec 0x0000007c Code RO 2470 .text.UART_Get uart.o - 0x08010c68 0x08010c68 0x00000168 Code RO 1473 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x08010dd0 0x08010dd0 0x0000013a Code RO 1391 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x08010f0a 0x08010f0a 0x00000002 PAD - 0x08010f0c 0x08010f0c 0x00000130 Code RO 1425 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o - 0x0801103c 0x0801103c 0x00000062 Code RO 1413 .text.UART_Start_Receive_IT stm32f4xx_hal_uart.o - 0x0801109e 0x0801109e 0x00000002 PAD - 0x080110a0 0x080110a0 0x00000094 Code RO 1481 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x08011134 0x08011134 0x0000001c Code RO 202 .text.USART1_IRQHandler stm32f4xx_it.o - 0x08011150 0x08011150 0x0000001c Code RO 204 .text.USART2_IRQHandler stm32f4xx_it.o - 0x0801116c 0x0801116c 0x00000020 Code RO 206 .text.USART3_IRQHandler stm32f4xx_it.o - 0x0801118c 0x0801118c 0x00000022 Code RO 2986 .text.USART3_IRQHandler1 remote_control.o - 0x080111ae 0x080111ae 0x00000002 PAD - 0x080111b0 0x080111b0 0x0000001c Code RO 228 .text.USART6_IRQHandler stm32f4xx_it.o - 0x080111cc 0x080111cc 0x00000004 Code RO 172 .text.UsageFault_Handler stm32f4xx_it.o - 0x080111d0 0x080111d0 0x0000001e Code RO 2602 .text.__ARM_isfinite filter.o - 0x080111ee 0x080111ee 0x00000002 PAD - 0x080111f0 0x080111f0 0x0000001e Code RO 2699 .text.__ARM_isfinite pid.o - 0x0801120e 0x0801120e 0x00000002 PAD - 0x08011210 0x08011210 0x00000018 Code RO 2600 .text.__ARM_isfinitef filter.o - 0x08011228 0x08011228 0x00000018 Code RO 2697 .text.__ARM_isfinitef pid.o - 0x08011240 0x08011240 0x00000034 Code RO 2596 .text.__ARM_isinf filter.o - 0x08011274 0x08011274 0x0000001c Code RO 2594 .text.__ARM_isinff filter.o - 0x08011290 0x08011290 0x00000038 Code RO 614 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x080112c8 0x080112c8 0x00000030 Code RO 610 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x080112f8 0x080112f8 0x00000010 Code RO 602 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08011308 0x08011308 0x00000042 Code RO 604 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0801134a 0x0801134a 0x00000002 PAD - 0x0801134c 0x0801134c 0x00000042 Code RO 2134 .text.__NVIC_SetPriority cmsis_os2.o - 0x0801138e 0x0801138e 0x00000002 PAD - 0x08011390 0x08011390 0x0000003c Code RO 598 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080113cc 0x080113cc 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o - 0x080113ce 0x080113ce 0x00000002 PAD - 0x080113d0 0x080113d0 0x0000001e Code RO 2547 .text.copysignf ahrs.o - 0x080113ee 0x080113ee 0x00000002 PAD - 0x080113f0 0x080113f0 0x0000003e Code RO 2769 .text.delay_init bsp_delay.o - 0x0801142e 0x0801142e 0x00000002 PAD - 0x08011430 0x08011430 0x000000f6 Code RO 1756 .text.eTaskGetState tasks.o - 0x08011526 0x08011526 0x00000002 PAD - 0x08011528 0x08011528 0x00000058 Code RO 3052 .text.float_to_uint motor_dm.o - 0x08011580 0x08011580 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o - 0x08011584 0x08011584 0x00000058 Code RO 11 .text.main main.o - 0x080115dc 0x080115dc 0x0000002c Code RO 3205 .text.major_yaw_Control gimbal.o - 0x08011608 0x08011608 0x0000002a Code RO 2809 .text.map calc_lib.o - 0x08011632 0x08011632 0x00000002 PAD - 0x08011634 0x08011634 0x00000080 Code RO 3211 .text.motor_imu_offset gimbal.o - 0x080116b4 0x080116b4 0x00000034 Code RO 2036 .text.osDelay cmsis_os2.o - 0x080116e8 0x080116e8 0x00000058 Code RO 2038 .text.osDelayUntil cmsis_os2.o - 0x08011740 0x08011740 0x00000052 Code RO 1974 .text.osKernelGetState cmsis_os2.o - 0x08011792 0x08011792 0x00000002 PAD - 0x08011794 0x08011794 0x00000026 Code RO 1986 .text.osKernelGetTickCount cmsis_os2.o - 0x080117ba 0x080117ba 0x00000002 PAD - 0x080117bc 0x080117bc 0x00000006 Code RO 1988 .text.osKernelGetTickFreq cmsis_os2.o - 0x080117c2 0x080117c2 0x00000002 PAD - 0x080117c4 0x080117c4 0x00000046 Code RO 1970 .text.osKernelInitialize cmsis_os2.o - 0x0801180a 0x0801180a 0x00000002 PAD - 0x0801180c 0x0801180c 0x00000056 Code RO 1980 .text.osKernelLock cmsis_os2.o - 0x08011862 0x08011862 0x00000002 PAD - 0x08011864 0x08011864 0x00000052 Code RO 1976 .text.osKernelStart cmsis_os2.o - 0x080118b6 0x080118b6 0x00000002 PAD - 0x080118b8 0x080118b8 0x0000006e Code RO 1982 .text.osKernelUnlock cmsis_os2.o - 0x08011926 0x08011926 0x00000002 PAD - 0x08011928 0x08011928 0x000000c0 Code RO 2090 .text.osMessageQueueGet cmsis_os2.o - 0x080119e8 0x080119e8 0x000000fe Code RO 2086 .text.osMessageQueueNew cmsis_os2.o - 0x08011ae6 0x08011ae6 0x00000002 PAD - 0x08011ae8 0x08011ae8 0x000000c4 Code RO 2088 .text.osMessageQueuePut cmsis_os2.o - 0x08011bac 0x08011bac 0x00000040 Code RO 2100 .text.osMessageQueueReset cmsis_os2.o - 0x08011bec 0x08011bec 0x0000009e Code RO 2068 .text.osMutexAcquire cmsis_os2.o - 0x08011c8a 0x08011c8a 0x00000002 PAD - 0x08011c8c 0x08011c8c 0x00000128 Code RO 2066 .text.osMutexNew cmsis_os2.o - 0x08011db4 0x08011db4 0x0000007e Code RO 2070 .text.osMutexRelease cmsis_os2.o - 0x08011e32 0x08011e32 0x00000002 PAD - 0x08011e34 0x08011e34 0x000000a4 Code RO 2028 .text.osThreadFlagsSet cmsis_os2.o - 0x08011ed8 0x08011ed8 0x0000011a Code RO 2034 .text.osThreadFlagsWait cmsis_os2.o - 0x08011ff2 0x08011ff2 0x00000002 PAD - 0x08011ff4 0x08011ff4 0x00000010 Code RO 2004 .text.osThreadGetId cmsis_os2.o - 0x08012004 0x08012004 0x0000015a Code RO 2000 .text.osThreadNew cmsis_os2.o - 0x0801215e 0x0801215e 0x00000002 PAD - 0x08012160 0x08012160 0x0000005e Code RO 2022 .text.osThreadTerminate cmsis_os2.o 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uart.o + 0x0800a7e4 0x0800a7e4 0x000000fc Code RO 1415 .text.HAL_UART_Transmit_DMA stm32f4xx_hal_uart.o + 0x0800a8e0 0x0800a8e0 0x00000072 Code RO 1409 .text.HAL_UART_Transmit_IT stm32f4xx_hal_uart.o + 0x0800a952 0x0800a952 0x00000002 PAD + 0x0800a954 0x0800a954 0x00000054 Code RO 2468 .text.HAL_UART_TxCpltCallback uart.o + 0x0800a9a8 0x0800a9a8 0x00000050 Code RO 2472 .text.HAL_UART_TxHalfCpltCallback uart.o + 0x0800a9f8 0x0800a9f8 0x00000004 Code RO 166 .text.HardFault_Handler stm32f4xx_it.o + 0x0800a9fc 0x0800a9fc 0x00000010 Code RO 200 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x0800aa0c 0x0800aa0c 0x00000010 Code RO 198 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x0800aa1c 0x0800aa1c 0x00000034 Code RO 858 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x0800aa50 0x0800aa50 0x00000156 Code RO 842 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x0800aba6 0x0800aba6 0x00000002 PAD + 0x0800aba8 0x0800aba8 0x00000024 Code RO 918 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x0800abcc 0x0800abcc 0x00000048 Code RO 2330 .text.I2C_Get i2c_1.o + 0x0800ac14 0x0800ac14 0x0000027a Code RO 854 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800ae8e 0x0800ae8e 0x00000002 PAD + 0x0800ae90 0x0800ae90 0x000001ac Code RO 874 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800b03c 0x0800b03c 0x0000016a Code RO 872 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800b1a6 0x0800b1a6 0x00000002 PAD + 0x0800b1a8 0x0800b1a8 0x000000de Code RO 868 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800b286 0x0800b286 0x00000002 PAD + 0x0800b288 0x0800b288 0x0000013e Code RO 866 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800b3c6 0x0800b3c6 0x00000002 PAD + 0x0800b3c8 0x0800b3c8 0x00000046 Code RO 862 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800b40e 0x0800b40e 0x00000002 PAD + 0x0800b410 0x0800b410 0x0000033e Code RO 864 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800b74e 0x0800b74e 0x00000002 PAD + 0x0800b750 0x0800b750 0x000000f0 Code RO 860 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800b840 0x0800b840 0x00000128 Code RO 870 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800b968 0x0800b968 0x0000002e Code RO 886 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800b996 0x0800b996 0x00000002 PAD + 0x0800b998 0x0800b998 0x0000006e Code RO 884 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ba06 0x0800ba06 0x00000002 PAD + 0x0800ba08 0x0800ba08 0x0000002c Code RO 882 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ba34 0x0800ba34 0x0000006c Code RO 880 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800baa0 0x0800baa0 0x000000ae Code RO 876 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800bb4e 0x0800bb4e 0x00000002 PAD + 0x0800bb50 0x0800bb50 0x000000e4 Code RO 890 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800bc34 0x0800bc34 0x0000024a Code RO 878 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800be7e 0x0800be7e 0x00000002 PAD + 0x0800be80 0x0800be80 0x00000078 Code RO 920 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800bef8 0x0800bef8 0x00000076 Code RO 2740 .text.InvSqrt user_math.o + 0x0800bf6e 0x0800bf6e 0x00000002 PAD + 0x0800bf70 0x0800bf70 0x000000b8 Code RO 2592 .text.LowPassFilter2p_Apply filter.o + 0x0800c028 0x0800c028 0x0000013c Code RO 2590 .text.LowPassFilter2p_Init filter.o + 0x0800c164 0x0800c164 0x00000092 Code RO 2598 .text.LowPassFilter2p_Reset filter.o + 0x0800c1f6 0x0800c1f6 0x00000002 PAD + 0x0800c1f8 0x0800c1f8 0x00000096 Code RO 3020 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800c28e 0x0800c28e 0x00000002 PAD + 0x0800c290 0x0800c290 0x0000007a Code RO 3044 .text.MOTOR_DM_Enable motor_dm.o + 0x0800c30a 0x0800c30a 0x00000002 PAD + 0x0800c30c 0x0800c30c 0x00000030 Code RO 3022 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800c33c 0x0800c33c 0x00000086 Code RO 3032 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800c3c2 0x0800c3c2 0x00000002 PAD + 0x0800c3c4 0x0800c3c4 0x00000048 Code RO 3030 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800c40c 0x0800c40c 0x00000158 Code RO 3026 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800c564 0x0800c564 0x0000012c Code RO 3018 .text.MOTOR_DM_Register motor_dm.o + 0x0800c690 0x0800c690 0x00000144 Code RO 3034 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800c7d4 0x0800c7d4 0x0000010c Code RO 3024 .text.MOTOR_DM_Update motor_dm.o + 0x0800c8e0 0x0800c8e0 0x00000096 Code RO 2910 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800c976 0x0800c976 0x00000002 PAD + 0x0800c978 0x0800c978 0x00000170 Code RO 2928 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800cae8 0x0800cae8 0x00000030 Code RO 2912 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800cb18 0x0800cb18 0x00000052 Code RO 2926 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800cb6a 0x0800cb6a 0x00000002 PAD + 0x0800cb6c 0x0800cb6c 0x00000080 Code RO 2924 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800cbec 0x0800cbec 0x00000078 Code RO 2922 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800cc64 0x0800cc64 0x00000050 Code RO 2934 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800ccb4 0x0800ccb4 0x00000120 Code RO 2908 .text.MOTOR_RM_Register motor_rm.o + 0x0800cdd4 0x0800cdd4 0x00000018 Code RO 2930 .text.MOTOR_RM_Relax motor_rm.o + 0x0800cdec 0x0800cdec 0x0000011a Code RO 2920 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800cf06 0x0800cf06 0x00000002 PAD + 0x0800cf08 0x0800cf08 0x00000102 Code RO 2914 .text.MOTOR_RM_Update motor_rm.o + 0x0800d00a 0x0800d00a 0x00000002 PAD + 0x0800d00c 0x0800d00c 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800d05a 0x0800d05a 0x00000002 PAD + 0x0800d05c 0x0800d05c 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800d0aa 0x0800d0aa 0x00000002 PAD + 0x0800d0ac 0x0800d0ac 0x000000f2 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800d19e 0x0800d19e 0x00000002 PAD + 0x0800d1a0 0x0800d1a0 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800d1e0 0x0800d1e0 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800d40a 0x0800d40a 0x00000002 PAD + 0x0800d40c 0x0800d40c 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800d454 0x0800d454 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800d49c 0x0800d49c 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800d4ee 0x0800d4ee 0x00000002 PAD + 0x0800d4f0 0x0800d4f0 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800d544 0x0800d544 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800d5d2 0x0800d5d2 0x00000002 PAD + 0x0800d5d4 0x0800d5d4 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800d62c 0x0800d62c 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800d66c 0x0800d66c 0x00000040 Code RO 136 .text.MX_USART2_UART_Init usart.o + 0x0800d6ac 0x0800d6ac 0x0000004c Code RO 138 .text.MX_USART3_UART_Init usart.o + 0x0800d6f8 0x0800d6f8 0x00000040 Code RO 140 .text.MX_USART6_UART_Init usart.o + 0x0800d738 0x0800d738 0x00000004 Code RO 168 .text.MemManage_Handler stm32f4xx_it.o + 0x0800d73c 0x0800d73c 0x0000021c Code RO 2916 .text.Motor_RM_Decode motor_rm.o + 0x0800d958 0x0800d958 0x00000004 Code RO 164 .text.NMI_Handler stm32f4xx_it.o + 0x0800d95c 0x0800d95c 0x0000006c Code RO 606 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800d9c8 0x0800d9c8 0x000002f0 Code RO 2703 .text.PID_Calc pid.o + 0x0800dcb8 0x0800dcb8 0x00000196 Code RO 2695 .text.PID_Init pid.o + 0x0800de4e 0x0800de4e 0x00000002 PAD + 0x0800de50 0x0800de50 0x00000048 Code RO 2701 .text.PID_Reset pid.o + 0x0800de98 0x0800de98 0x00000026 Code RO 2705 .text.PID_ResetIntegral pid.o + 0x0800debe 0x0800debe 0x00000002 PAD + 0x0800dec0 0x0800dec0 0x00000064 Code RO 2200 .text.PendSV_Handler port.o + 0x0800df24 0x0800df24 0x00000094 Code RO 2784 .text.RC_Init bsp_rc.o + 0x0800dfb8 0x0800dfb8 0x0000005a Code RO 2788 .text.RC_restart bsp_rc.o + 0x0800e012 0x0800e012 0x00000002 PAD + 0x0800e014 0x0800e014 0x00000034 Code RO 980 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x0800e048 0x0800e048 0x00000016 Code RO 986 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x0800e05e 0x0800e05e 0x00000002 PAD + 0x0800e060 0x0800e060 0x00000016 Code RO 976 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800e076 0x0800e076 0x00000002 PAD + 0x0800e078 0x0800e078 0x00000016 Code RO 990 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800e08e 0x0800e08e 0x00000002 PAD + 0x0800e090 0x0800e090 0x000000a2 Code RO 988 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x0800e132 0x0800e132 0x00000002 PAD + 0x0800e134 0x0800e134 0x000000a6 Code RO 978 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x0800e1da 0x0800e1da 0x00000002 PAD + 0x0800e1dc 0x0800e1dc 0x00000086 Code RO 992 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800e262 0x0800e262 0x00000002 PAD + 0x0800e264 0x0800e264 0x000000e4 Code RO 950 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x0800e348 0x0800e348 0x000000cc Code RO 944 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x0800e414 0x0800e414 0x0000002e Code RO 2411 .text.SPI_Get spi_1.o + 0x0800e442 0x0800e442 0x00000002 PAD + 0x0800e444 0x0800e444 0x0000012c Code RO 1042 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x0800e570 0x0800e570 0x00000024 Code RO 2184 .text.SVC_Handler port.o + 0x0800e594 0x0800e594 0x0000000e Code RO 1978 .text.SVC_Setup cmsis_os2.o + 0x0800e5a2 0x0800e5a2 0x00000002 PAD + 0x0800e5a4 0x0800e5a4 0x00000068 Code RO 2760 .text.ScaleSumTo1 user_math.o + 0x0800e60c 0x0800e60c 0x00000004 PAD + 0x0800e610 0x0800e610 0x000000f8 Code RO 3178 .text.Shoot_CaluCoupledWeight shoot.o + 0x0800e708 0x0800e708 0x000000cc Code RO 3172 .text.Shoot_CaluTargetAngle shoot.o + 0x0800e7d4 0x0800e7d4 0x0000005a Code RO 3170 .text.Shoot_CaluTargetRPM shoot.o + 0x0800e82e 0x0800e82e 0x00000002 PAD + 0x0800e830 0x0800e830 0x00000098 Code RO 3184 .text.Shoot_Control shoot.o + 0x0800e8c8 0x0800e8c8 0x000001b6 Code RO 3182 .text.Shoot_Init shoot.o + 0x0800ea7e 0x0800ea7e 0x00000002 PAD + 0x0800ea80 0x0800ea80 0x000001b0 Code RO 3180 .text.Shoot_JamDetectionFSM shoot.o + 0x0800ec30 0x0800ec30 0x000000d8 Code RO 3166 .text.Shoot_ResetCalu shoot.o + 0x0800ed08 0x0800ed08 0x00000086 Code RO 3164 .text.Shoot_ResetIntegral shoot.o + 0x0800ed8e 0x0800ed8e 0x00000002 PAD + 0x0800ed90 0x0800ed90 0x0000008c Code RO 3168 .text.Shoot_ResetOutput shoot.o + 0x0800ee1c 0x0800ee1c 0x000006c8 Code RO 3176 .text.Shoot_RunningFSM shoot.o + 0x0800f4e4 0x0800f4e4 0x0000002e Code RO 3162 .text.Shoot_SetMode shoot.o + 0x0800f512 0x0800f512 0x00000002 PAD + 0x0800f514 0x0800f514 0x000002e0 Code RO 3174 .text.Shoot_UpdateFeedback shoot.o + 0x0800f7f4 0x0800f7f4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o + 0x0800f806 0x0800f806 0x00000002 PAD + 0x0800f808 0x0800f808 0x00000052 Code RO 622 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x0800f85a 0x0800f85a 0x00000002 PAD + 0x0800f85c 0x0800f85c 0x00000018 Code RO 176 .text.SysTick_Handler stm32f4xx_it.o + 0x0800f874 0x0800f874 0x000000bc Code RO 13 .text.SystemClock_Config main.o + 0x0800f930 0x0800f930 0x00000012 Code RO 1518 .text.SystemInit system_stm32f4xx.o + 0x0800f942 0x0800f942 0x00000002 PAD + 0x0800f944 0x0800f944 0x00000010 Code RO 208 .text.TIM7_IRQHandler stm32f4xx_it.o + 0x0800f954 0x0800f954 0x000001a4 Code RO 1055 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800faf8 0x0800faf8 0x00000036 Code RO 1089 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x0800fb2e 0x0800fb2e 0x00000002 PAD + 0x0800fb30 0x0800fb30 0x000000ea Code RO 1199 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x0800fc1a 0x0800fc1a 0x00000002 PAD + 0x0800fc1c 0x0800fc1c 0x000000f4 Code RO 1201 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o + 0x0800fd10 0x0800fd10 0x000000f2 Code RO 1203 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o + 0x0800fe02 0x0800fe02 0x00000002 PAD + 0x0800fe04 0x0800fe04 0x000000a4 Code RO 1205 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o + 0x0800fea8 0x0800fea8 0x00000134 Code RO 3062 .text.Task_Init init.o + 0x0800ffdc 0x0800ffdc 0x00000004 PAD + 0x0800ffe0 0x0800ffe0 0x000000d0 Code RO 3142 .text.Task_ai ai_1.o + 0x080100b0 0x080100b0 0x000002bc Code RO 3070 .text.Task_atti_esti atti_esti.o + 0x0801036c 0x0801036c 0x00000004 PAD + 0x08010370 0x08010370 0x000001ac Code RO 3116 .text.Task_gimbal_ctrl gimbal_ctrl.o + 0x0801051c 0x0801051c 0x00000004 PAD + 0x08010520 0x08010520 0x000000e8 Code RO 3091 .text.Task_remote remote.o + 0x08010608 0x08010608 0x000000d4 Code RO 3130 .text.Task_shoot_ctrl shoot_ctrl.o + 0x080106dc 0x080106dc 0x0000001c Code RO 1475 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o + 0x080106f8 0x080106f8 0x0000007c Code RO 1421 .text.UART_DMAError stm32f4xx_hal_uart.o + 0x08010774 0x08010774 0x000000f4 Code RO 1507 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o + 0x08010868 0x08010868 0x00000034 Code RO 1509 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o + 0x0801089c 0x0801089c 0x0000007a Code RO 1417 .text.UART_DMATransmitCplt stm32f4xx_hal_uart.o + 0x08010916 0x08010916 0x00000002 PAD + 0x08010918 0x08010918 0x00000016 Code RO 1419 .text.UART_DMATxHalfCplt stm32f4xx_hal_uart.o + 0x0801092e 0x0801092e 0x00000002 PAD + 0x08010930 0x08010930 0x00000094 Code RO 1435 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o + 0x080109c4 0x080109c4 0x00000026 Code RO 1483 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o + 0x080109ea 0x080109ea 0x00000002 PAD + 0x080109ec 0x080109ec 0x00000036 Code RO 1433 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o + 0x08010a22 0x08010a22 0x00000002 PAD + 0x08010a24 0x08010a24 0x0000007c Code RO 2470 .text.UART_Get uart.o + 0x08010aa0 0x08010aa0 0x00000168 Code RO 1473 .text.UART_Receive_IT stm32f4xx_hal_uart.o + 0x08010c08 0x08010c08 0x0000013a Code RO 1391 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x08010d42 0x08010d42 0x00000002 PAD + 0x08010d44 0x08010d44 0x00000130 Code RO 1425 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o + 0x08010e74 0x08010e74 0x00000062 Code RO 1413 .text.UART_Start_Receive_IT stm32f4xx_hal_uart.o + 0x08010ed6 0x08010ed6 0x00000002 PAD + 0x08010ed8 0x08010ed8 0x00000094 Code RO 1481 .text.UART_Transmit_IT stm32f4xx_hal_uart.o + 0x08010f6c 0x08010f6c 0x0000001c Code RO 202 .text.USART1_IRQHandler stm32f4xx_it.o + 0x08010f88 0x08010f88 0x0000001c Code RO 204 .text.USART2_IRQHandler stm32f4xx_it.o + 0x08010fa4 0x08010fa4 0x00000020 Code RO 206 .text.USART3_IRQHandler stm32f4xx_it.o + 0x08010fc4 0x08010fc4 0x00000022 Code RO 2986 .text.USART3_IRQHandler1 remote_control.o + 0x08010fe6 0x08010fe6 0x00000002 PAD + 0x08010fe8 0x08010fe8 0x0000001c Code RO 228 .text.USART6_IRQHandler stm32f4xx_it.o + 0x08011004 0x08011004 0x00000004 Code RO 172 .text.UsageFault_Handler stm32f4xx_it.o + 0x08011008 0x08011008 0x0000001e Code RO 2602 .text.__ARM_isfinite filter.o + 0x08011026 0x08011026 0x00000002 PAD + 0x08011028 0x08011028 0x0000001e Code RO 2699 .text.__ARM_isfinite pid.o + 0x08011046 0x08011046 0x00000002 PAD + 0x08011048 0x08011048 0x00000018 Code RO 2600 .text.__ARM_isfinitef filter.o + 0x08011060 0x08011060 0x00000018 Code RO 2697 .text.__ARM_isfinitef pid.o + 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fz_wm.l(daddsub_clz.o) - 0x0801855a 0x0801855a 0x00000002 PAD - 0x0801855c 0x0801855c 0x00000198 Code RO 3571 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) - 0x080186f4 0x080186f4 0x000001dc Code RO 3270 x$fpl$dsub fz_wm.l(daddsub_clz.o) - 0x080188d0 0x080188d0 0x00000056 Code RO 3294 x$fpl$f2d fz_wm.l(f2d.o) - 0x08018926 0x08018926 0x00000060 Code RO 3296 x$fpl$ffltll fz_wm.l(ffltll_clz.o) - 0x08018986 0x08018986 0x0000008c Code RO 3445 x$fpl$fnaninf fz_wm.l(fnaninf.o) - 0x08018a12 0x08018a12 0x0000001a Code RO 3714 x$fpl$fpinit fz_wm.l(fpinit.o) - 0x08018a2c 0x08018a2c 0x0000000a Code RO 3447 x$fpl$fretinf fz_wm.l(fretinf.o) - 0x08018a36 0x08018a36 0x00000064 Code RO 3631 x$fpl$retnan fz_wm.l(retnan.o) - 0x08018a9a 0x08018a9a 0x0000005c Code RO 3457 x$fpl$scalbn fz_wm.l(scalbn.o) - 0x08018af6 0x08018af6 0x00000030 Code RO 3693 x$fpl$trapveneer fz_wm.l(trapv.o) - 0x08018b26 0x08018b26 0x00000000 Code RO 3459 x$fpl$usenofp fz_wm.l(usenofp.o) - 0x08018b26 0x08018b26 0x00000002 PAD - 0x08018b28 0x08018b28 0x00000088 Data RO 3325 .constdata m_wm.l(pow.o) - 0x08018bb0 0x08018bb0 0x00000098 Data RO 3463 .constdata m_wm.l(atan.o) - 0x08018c48 0x08018c48 0x00000008 Data RO 3507 .constdata m_wm.l(qnan.o) - 0x08018c50 0x08018c50 0x00000020 Data RO 3509 .constdata m_wm.l(rredf.o) - 0x08018c70 0x08018c70 0x00000010 Data RO 1523 .rodata.AHBPrescTable system_stm32f4xx.o - 0x08018c80 0x08018c80 0x00000008 Data RO 1524 .rodata.APBPrescTable system_stm32f4xx.o - 0x08018c88 0x08018c88 0x00000008 Data RO 528 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o - 0x08018c90 0x08018c90 0x00000038 Data RO 2320 .rodata.GPIO_Map gpio_1.o - 0x08018cc8 0x08018cc8 0x00000008 Data RO 2401 .rodata.PWM_Map pwm.o - 0x08018cd0 0x08018cd0 0x00000024 Data RO 3108 .rodata.attr_ai user_task.o - 0x08018cf4 0x08018cf4 0x00000024 Data RO 3105 .rodata.attr_atti_esti user_task.o - 0x08018d18 0x08018d18 0x00000024 Data RO 3106 .rodata.attr_gimbal_ctrl user_task.o - 0x08018d3c 0x08018d3c 0x00000024 Data RO 3104 .rodata.attr_init user_task.o - 0x08018d60 0x08018d60 0x00000024 Data RO 3107 .rodata.attr_remote user_task.o - 0x08018d84 0x08018d84 0x00000024 Data RO 3109 .rodata.attr_shoot_ctrl user_task.o - 0x08018da8 0x08018da8 0x00000200 Data RO 2635 .rodata.crc16_tab crc16.o - 0x08018fa8 0x08018fa8 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o - 0x08018fcc 0x08018fcc 0x00000020 Data RO 3078 .rodata.imu_temp_ctrl_pid_param atti_esti.o - 0x08018fec 0x08018fec 0x0000000c Data RO 43 .rodata.str1.1 freertos.o - 0x08018ff8 0x08018ff8 0x00000005 Data RO 1882 .rodata.str1.1 tasks.o - 0x08018ffd 0x08018ffd 0x0000000d Data RO 1954 .rodata.str1.1 timers.o - 0x0801900a 0x0801900a 0x00000035 Data RO 3103 .rodata.str1.1 user_task.o - 0x0801903f 0x0801903f 0x00000001 PAD - 0x08019040 0x08019040 0x00000020 Data RO 3775 Region$$Table anon$$obj.o + 0x08015a58 0x08015a58 0x000000ce Code RO 1806 .text.xTaskRemoveFromEventList tasks.o + 0x08015b26 0x08015b26 0x00000002 PAD + 0x08015b28 0x08015b28 0x00000186 Code RO 1752 .text.xTaskResumeAll tasks.o + 0x08015cae 0x08015cae 0x00000002 PAD + 0x08015cb0 0x08015cb0 0x00000094 Code RO 1899 .text.xTimerCreateTimerTask timers.o + 0x08015d44 0x08015d44 0x000000b0 Code RO 1911 .text.xTimerGenericCommand timers.o + 0x08015df4 0x08015df4 0x00000030 Code RO 3486 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x08015e24 0x08015e24 0x00000026 Code RO 3488 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x08015e4a 0x08015e4a 0x00000002 PAD + 0x08015e4c 0x08015e4c 0x0000012c Code RO 3297 i.__hardfp_asinf m_wm.l(asinf.o) + 0x08015f78 0x08015f78 0x000002d8 Code RO 3459 i.__hardfp_atan m_wm.l(atan.o) + 0x08016250 0x08016250 0x00000200 Code RO 3303 i.__hardfp_atan2 m_wm.l(atan2.o) + 0x08016450 0x08016450 0x000002ac Code RO 3309 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x080166fc 0x080166fc 0x00000150 Code RO 3315 i.__hardfp_cosf m_wm.l(cosf.o) + 0x0801684c 0x0801684c 0x00000004 PAD + 0x08016850 0x08016850 0x00000c60 Code RO 3321 i.__hardfp_pow m_wm.l(pow.o) + 0x080174b0 0x080174b0 0x0000017c Code RO 3328 i.__hardfp_tanf m_wm.l(tanf.o) + 0x0801762c 0x0801762c 0x000000f8 Code RO 3504 i.__kernel_poly m_wm.l(poly.o) + 0x08017724 0x08017724 0x00000004 PAD + 0x08017728 0x08017728 0x00000030 Code RO 3466 i.__mathlib_dbl_divzero m_wm.l(dunder.o) + 0x08017758 0x08017758 0x00000014 Code RO 3467 i.__mathlib_dbl_infnan m_wm.l(dunder.o) + 0x0801776c 0x0801776c 0x00000014 Code RO 3468 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o) + 0x08017780 0x08017780 0x00000020 Code RO 3469 i.__mathlib_dbl_invalid m_wm.l(dunder.o) + 0x080177a0 0x080177a0 0x00000020 Code RO 3470 i.__mathlib_dbl_overflow m_wm.l(dunder.o) + 0x080177c0 0x080177c0 0x00000020 Code RO 3472 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x080177e0 0x080177e0 0x00000006 Code RO 3491 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x080177e6 0x080177e6 0x00000006 Code RO 3492 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x080177ec 0x080177ec 0x00000010 Code RO 3493 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x080177fc 0x080177fc 0x00000010 Code RO 3496 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x0801780c 0x0801780c 0x00000154 Code RO 3507 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x08017960 0x08017960 0x00000010 Code RO 3461 i.atan m_wm.l(atan.o) + 0x08017970 0x08017970 0x00000018 Code RO 3482 i.fabs m_wm.l(fabs.o) + 0x08017988 0x08017988 0x0000006e Code RO 3512 i.sqrt m_wm.l(sqrt.o) + 0x080179f6 0x080179f6 0x0000003e Code RO 3518 i.sqrtf m_wm.l(sqrtf.o) + 0x08017a34 0x08017a34 0x00000018 Code RO 3434 x$fpl$basic fz_wm.l(basic.o) + 0x08017a4c 0x08017a4c 0x00000062 Code RO 3265 x$fpl$d2f fz_wm.l(d2f.o) + 0x08017aae 0x08017aae 0x00000002 PAD + 0x08017ab0 0x08017ab0 0x00000150 Code RO 3267 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x08017c00 0x08017c00 0x00000010 Code RO 3564 x$fpl$dcheck1 fz_wm.l(dcheck1.o) + 0x08017c10 0x08017c10 0x00000018 Code RO 3566 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x08017c28 0x08017c28 0x000002b4 Code RO 3274 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x08017edc 0x08017edc 0x00000078 Code RO 3436 x$fpl$deqf fz_wm.l(deqf.o) + 0x08017f54 0x08017f54 0x0000005e Code RO 3277 x$fpl$dfix fz_wm.l(dfix.o) + 0x08017fb2 0x08017fb2 0x00000002 PAD + 0x08017fb4 0x08017fb4 0x0000005a Code RO 3281 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x0801800e 0x0801800e 0x0000002e Code RO 3286 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x0801803c 0x0801803c 0x00000026 Code RO 3285 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x08018062 0x08018062 0x00000002 PAD + 0x08018064 0x08018064 0x00000078 Code RO 3568 x$fpl$dleqf fz_wm.l(dleqf.o) + 0x080180dc 0x080180dc 0x00000154 Code RO 3291 x$fpl$dmul fz_wm.l(dmul.o) + 0x08018230 0x08018230 0x0000009c Code RO 3438 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x080182cc 0x080182cc 0x0000000c Code RO 3440 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x080182d8 0x080182d8 0x0000006c Code RO 3442 x$fpl$drleqf fz_wm.l(drleqf.o) + 0x08018344 0x08018344 0x00000016 Code RO 3268 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x0801835a 0x0801835a 0x00000002 PAD + 0x0801835c 0x0801835c 0x00000198 Code RO 3570 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) + 0x080184f4 0x080184f4 0x000001dc Code RO 3269 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x080186d0 0x080186d0 0x00000056 Code RO 3293 x$fpl$f2d fz_wm.l(f2d.o) + 0x08018726 0x08018726 0x00000060 Code RO 3295 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x08018786 0x08018786 0x0000008c Code RO 3444 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x08018812 0x08018812 0x0000001a Code RO 3713 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x0801882c 0x0801882c 0x0000000a Code RO 3446 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x08018836 0x08018836 0x00000064 Code RO 3630 x$fpl$retnan fz_wm.l(retnan.o) + 0x0801889a 0x0801889a 0x0000005c Code RO 3456 x$fpl$scalbn fz_wm.l(scalbn.o) + 0x080188f6 0x080188f6 0x00000030 Code RO 3692 x$fpl$trapveneer fz_wm.l(trapv.o) + 0x08018926 0x08018926 0x00000000 Code RO 3458 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x08018926 0x08018926 0x00000002 PAD + 0x08018928 0x08018928 0x00000088 Data RO 3324 .constdata m_wm.l(pow.o) + 0x080189b0 0x080189b0 0x00000098 Data RO 3462 .constdata m_wm.l(atan.o) + 0x08018a48 0x08018a48 0x00000008 Data RO 3506 .constdata m_wm.l(qnan.o) + 0x08018a50 0x08018a50 0x00000020 Data RO 3508 .constdata m_wm.l(rredf.o) + 0x08018a70 0x08018a70 0x00000010 Data RO 1523 .rodata.AHBPrescTable system_stm32f4xx.o + 0x08018a80 0x08018a80 0x00000008 Data RO 1524 .rodata.APBPrescTable system_stm32f4xx.o + 0x08018a88 0x08018a88 0x00000008 Data RO 528 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o + 0x08018a90 0x08018a90 0x00000038 Data RO 2320 .rodata.GPIO_Map gpio_1.o + 0x08018ac8 0x08018ac8 0x00000008 Data RO 2401 .rodata.PWM_Map pwm.o + 0x08018ad0 0x08018ad0 0x00000024 Data RO 3108 .rodata.attr_ai user_task.o + 0x08018af4 0x08018af4 0x00000024 Data RO 3105 .rodata.attr_atti_esti user_task.o + 0x08018b18 0x08018b18 0x00000024 Data RO 3106 .rodata.attr_gimbal_ctrl user_task.o + 0x08018b3c 0x08018b3c 0x00000024 Data RO 3104 .rodata.attr_init user_task.o + 0x08018b60 0x08018b60 0x00000024 Data RO 3107 .rodata.attr_remote user_task.o + 0x08018b84 0x08018b84 0x00000024 Data RO 3109 .rodata.attr_shoot_ctrl user_task.o + 0x08018ba8 0x08018ba8 0x00000200 Data RO 2635 .rodata.crc16_tab crc16.o + 0x08018da8 0x08018da8 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o + 0x08018dcc 0x08018dcc 0x00000020 Data RO 3078 .rodata.imu_temp_ctrl_pid_param atti_esti.o + 0x08018dec 0x08018dec 0x0000000c Data RO 43 .rodata.str1.1 freertos.o + 0x08018df8 0x08018df8 0x00000005 Data RO 1882 .rodata.str1.1 tasks.o + 0x08018dfd 0x08018dfd 0x0000000d Data RO 1954 .rodata.str1.1 timers.o + 0x08018e0a 0x08018e0a 0x00000035 Data RO 3103 .rodata.str1.1 user_task.o + 0x08018e3f 0x08018e3f 0x00000001 PAD + 0x08018e40 0x08018e40 0x00000020 Data RO 3774 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08019060, Size: 0x00008f28, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000130]) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08018e60, Size: 0x000090d0, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000130]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x20000000 COMPRESSED 0x00000004 Data RW 1522 .data.SystemCoreClock system_stm32f4xx.o 0x20000004 COMPRESSED 0x00000004 Data RW 2551 .data.beta ahrs.o 0x20000008 COMPRESSED 0x0000000c Data RW 3072 .data.cali_bmi088 atti_esti.o - 0x20000014 COMPRESSED 0x00000288 Data RW 3157 .data.robot_config config.o - 0x2000029c COMPRESSED 0x00000001 Data RW 728 .data.uwTickFreq stm32f4xx_hal.o - 0x2000029d COMPRESSED 0x00000003 PAD - 0x200002a0 COMPRESSED 0x00000004 Data RW 727 .data.uwTickPrio stm32f4xx_hal.o - 0x200002a4 COMPRESSED 0x00000004 Data RW 2208 .data.uxCriticalNesting port.o - 0x200002a8 - 0x00000060 Zero RW 3574 .bss c_w.l(libspace.o) - 0x20000308 - 0x00000068 Zero RW 2292 .bss.CAN_Callback can_1.o - 0x20000370 - 0x00000040 Zero RW 2319 .bss.GPIO_Callback gpio_1.o - 0x200003b0 - 0x00000004 Zero RW 63 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o - 0x200003b4 - 0x00000048 Zero RW 2364 .bss.I2C_Callback i2c_1.o - 0x200003fc - 0x00000004 Zero RW 2136 .bss.KernelState cmsis_os2.o - 0x20000400 - 0x00000002 Zero RW 3094 .bss.R_mode remote.o - 0x20000402 COMPRESSED 0x00000002 PAD - 0x20000404 - 0x00000040 Zero RW 2445 .bss.SPI_Callback spi_1.o - 0x20000444 - 0x00000004 Zero RW 3187 .bss.Shoot_RunningFSM.pos shoot.o - 0x20000448 - 0x00000090 Zero RW 2496 .bss.UART_Callback uart.o - 0x200004d8 - 0x00000004 Zero RW 3188 .bss.a shoot.o - 0x200004dc - 0x00000048 Zero RW 3145 .bss.ai ai_1.o - 0x20000524 - 0x00000019 Zero RW 3146 .bss.ai_cmd ai_1.o - 0x2000053d - 0x00000019 Zero RW 3120 .bss.ai_g_cmd gimbal_ctrl.o - 0x20000556 COMPRESSED 0x00000002 PAD - 0x20000558 - 0x00000030 Zero RW 3074 .bss.bmi088 atti_esti.o - 0x20000588 - 0x00000013 Zero RW 2854 .bss.bmi088_rxbuf bmi088.o - 0x2000059b - 0x00000002 Zero RW 2855 .bss.buffer bmi088.o - 0x2000059d COMPRESSED 0x00000001 PAD - 0x2000059e - 0x00000002 Zero RW 3081 .bss.calib_count atti_esti.o - 0x200005a0 - 0x00000001 Zero RW 3082 .bss.calib_state atti_esti.o - 0x200005a1 COMPRESSED 0x00000003 PAD - 0x200005a4 - 0x00000008 Zero RW 2936 .bss.can_managers motor_rm.o - 0x200005ac - 0x00000008 Zero RW 3054 .bss.can_managers motor_dm.o - 0x200005b4 - 0x00000004 Zero RW 45 .bss.defaultTaskHandle freertos.o - 0x200005b8 - 0x0000000c Zero RW 3079 .bss.eulr_to_send atti_esti.o - 0x200005c4 - 0x00000004 Zero RW 2776 .bss.fac_ms bsp_delay.o - 0x200005c8 - 0x00000001 Zero RW 2775 .bss.fac_us bsp_delay.o - 0x200005c9 COMPRESSED 0x00000003 PAD - 0x200005cc - 0x00000064 Zero RW 3144 .bss.g_feedback ai_1.o - 0x20000630 - 0x000002f8 Zero RW 3118 .bss.gimbal gimbal_ctrl.o - 0x20000928 - 0x00000014 Zero RW 3075 .bss.gimbal_ahrs atti_esti.o - 0x2000093c - 0x00000014 Zero RW 3121 .bss.gimbal_cmd_ai gimbal_ctrl.o - 0x20000950 - 0x00000014 Zero RW 3122 .bss.gimbal_cmd_remote gimbal_ctrl.o - 0x20000964 - 0x00000034 Zero RW 3119 .bss.gimbal_imu gimbal_ctrl.o - 0x20000998 - 0x00000034 Zero RW 3084 .bss.gimbal_to_send atti_esti.o - 0x200009cc - 0x0000000c Zero RW 3080 .bss.gyro_sum atti_esti.o - 0x200009d8 - 0x00000028 Zero RW 61 .bss.hcan1 can.o - 0x20000a00 - 0x00000028 Zero RW 62 .bss.hcan2 can.o - 0x20000a28 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o - 0x20000a88 - 0x00000060 Zero RW 107 .bss.hdma_spi1_tx spi.o - 0x20000ae8 - 0x00000060 Zero RW 150 .bss.hdma_usart1_rx usart.o - 0x20000b48 - 0x00000060 Zero RW 151 .bss.hdma_usart1_tx usart.o - 0x20000ba8 - 0x00000060 Zero RW 152 .bss.hdma_usart2_rx usart.o - 0x20000c08 - 0x00000060 Zero RW 153 .bss.hdma_usart2_tx usart.o - 0x20000c68 - 0x00000060 Zero RW 154 .bss.hdma_usart3_rx usart.o - 0x20000cc8 - 0x00000060 Zero RW 155 .bss.hdma_usart6_rx usart.o - 0x20000d28 - 0x00000060 Zero RW 156 .bss.hdma_usart6_tx usart.o - 0x20000d88 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o - 0x20000ddc - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o - 0x20000e30 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o - 0x20000e88 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o - 0x20000ee0 - 0x00000048 Zero RW 126 .bss.htim10 tim.o - 0x20000f28 - 0x00000048 Zero RW 125 .bss.htim7 tim.o - 0x20000f70 - 0x00000048 Zero RW 146 .bss.huart1 usart.o - 0x20000fb8 - 0x00000048 Zero RW 147 .bss.huart2 usart.o - 0x20001000 - 0x00000048 Zero RW 148 .bss.huart3 usart.o - 0x20001048 - 0x00000048 Zero RW 149 .bss.huart6 usart.o - 0x20001090 - 0x00000004 Zero RW 2294 .bss.id_parser can_1.o - 0x20001094 - 0x00000034 Zero RW 3096 .bss.imu remote.o - 0x200010c8 - 0x0000003c Zero RW 3077 .bss.imu_temp_ctrl_pid atti_esti.o - 0x20001104 - 0x00000001 Zero RW 2293 .bss.inited can_1.o - 0x20001105 - 0x00000001 Zero RW 2852 .bss.inited bmi088.o - 0x20001106 COMPRESSED 0x00000002 PAD - 0x20001108 - 0x00000020 Zero RW 3083 .bss.ist8310 atti_esti.o - 0x20001128 - 0x00000004 Zero RW 3073 .bss.jiaozhun atti_esti.o - 0x2000112c - 0x00000001 Zero RW 3189 .bss.last_firecmd shoot.o - 0x2000112d COMPRESSED 0x00000003 PAD - 0x20001130 - 0x0000000c Zero RW 3076 .bss.magn atti_esti.o - 0x2000113c - 0x000000a0 Zero RW 1962 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x200011dc - 0x00000050 Zero RW 1961 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x2000122c - 0x00000004 Zero RW 1958 .bss.prvSampleTimeNow.xLastTime timers.o - 0x20001230 - 0x00000004 Zero RW 1868 .bss.pxCurrentTCB tasks.o - 0x20001234 - 0x00000004 Zero RW 1956 .bss.pxCurrentTimerList timers.o - 0x20001238 - 0x00000004 Zero RW 1876 .bss.pxDelayedTaskList tasks.o - 0x2000123c - 0x00000004 Zero RW 2165 .bss.pxEnd heap_4.o - 0x20001240 - 0x00000004 Zero RW 1877 .bss.pxOverflowDelayedTaskList tasks.o - 0x20001244 - 0x00000004 Zero RW 1957 .bss.pxOverflowTimerList timers.o - 0x20001248 - 0x00000460 Zero RW 1879 .bss.pxReadyTasksLists tasks.o - 0x200016a8 - 0x00000004 Zero RW 2297 .bss.queue_list can_1.o - 0x200016ac - 0x00000004 Zero RW 2295 .bss.queue_mutex can_1.o - 0x200016b0 - 0x00000018 Zero RW 2993 .bss.rc_ctrl remote_control.o - 0x200016c8 - 0x00000014 Zero RW 3095 .bss.remote_cmd remote.o - 0x200016dc - 0x00000002 Zero RW 3134 .bss.s_mode shoot_ctrl.o - 0x200016de - 0x00000019 Zero RW 2992 .bss.sbus_rx_buf remote_control.o - 0x200016f7 COMPRESSED 0x00000001 PAD - 0x200016f8 - 0x00000198 Zero RW 3132 .bss.shoot shoot_ctrl.o - 0x20001890 - 0x00000004 Zero RW 3133 .bss.shoot_cmd shoot_ctrl.o - 0x20001894 - 0x00000004 Zero RW 3093 .bss.shoot_rc_cmd remote.o - 0x20001898 - 0x00000080 Zero RW 3110 .bss.task_runtime user_task.o - 0x20001918 - 0x00000004 Zero RW 2853 .bss.thread_alert bmi088.o - 0x2000191c - 0x00000810 Zero RW 2296 .bss.tx_queues can_1.o - 0x2000212c - 0x00006000 Zero RW 2172 .bss.ucHeap heap_4.o - 0x2000812c - 0x00000001 Zero RW 2206 .bss.ucMaxSysCallPriority port.o - 0x2000812d COMPRESSED 0x00000003 PAD - 0x20008130 - 0x00000004 Zero RW 2207 .bss.ulMaxPRIGROUPValue port.o - 0x20008134 - 0x00000004 Zero RW 1889 .bss.ulTaskSwitchedInTime tasks.o - 0x20008138 - 0x00000004 Zero RW 1888 .bss.ulTotalRunTime tasks.o - 0x2000813c - 0x00000004 Zero RW 729 .bss.uwTick stm32f4xx_hal.o - 0x20008140 - 0x00000004 Zero RW 1872 .bss.uxCurrentNumberOfTasks tasks.o - 0x20008144 - 0x00000004 Zero RW 1871 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x20008148 - 0x00000004 Zero RW 1874 .bss.uxSchedulerSuspended tasks.o - 0x2000814c - 0x00000004 Zero RW 1869 .bss.uxTaskNumber tasks.o - 0x20008150 - 0x00000004 Zero RW 1880 .bss.uxTopReadyPriority tasks.o - 0x20008154 - 0x00000200 Zero RW 2139 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x20008354 - 0x00000064 Zero RW 2138 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x200083b8 - 0x00000400 Zero RW 2141 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x200087b8 - 0x00000064 Zero RW 2140 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x2000881c - 0x00000014 Zero RW 1959 .bss.xActiveTimerList1 timers.o - 0x20008830 - 0x00000014 Zero RW 1960 .bss.xActiveTimerList2 timers.o - 0x20008844 - 0x00000004 Zero RW 2166 .bss.xBlockAllocatedBit heap_4.o - 0x20008848 - 0x00000014 Zero RW 1890 .bss.xDelayedTaskList1 tasks.o - 0x2000885c - 0x00000014 Zero RW 1891 .bss.xDelayedTaskList2 tasks.o - 0x20008870 - 0x00000004 Zero RW 2167 .bss.xFreeBytesRemaining heap_4.o - 0x20008874 - 0x00000004 Zero RW 1883 .bss.xIdleTaskHandle tasks.o - 0x20008878 - 0x00000004 Zero RW 2169 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x2000887c - 0x00000004 Zero RW 1884 .bss.xNextTaskUnblockTime tasks.o - 0x20008880 - 0x00000004 Zero RW 1887 .bss.xNumOfOverflows tasks.o - 0x20008884 - 0x00000004 Zero RW 2170 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x20008888 - 0x00000004 Zero RW 2171 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x2000888c - 0x00000004 Zero RW 1886 .bss.xPendedTicks tasks.o - 0x20008890 - 0x00000014 Zero RW 1881 .bss.xPendingReadyList tasks.o - 0x200088a4 - 0x00000040 Zero RW 1667 .bss.xQueueRegistry queue.o - 0x200088e4 - 0x00000004 Zero RW 1873 .bss.xSchedulerRunning tasks.o - 0x200088e8 - 0x00000008 Zero RW 2168 .bss.xStart heap_4.o - 0x200088f0 - 0x00000014 Zero RW 1878 .bss.xSuspendedTaskList tasks.o - 0x20008904 - 0x00000014 Zero RW 1870 .bss.xTasksWaitingTermination tasks.o - 0x20008918 - 0x00000004 Zero RW 1875 .bss.xTickCount tasks.o - 0x2000891c - 0x00000004 Zero RW 1953 .bss.xTimerQueue timers.o - 0x20008920 - 0x00000004 Zero RW 1955 .bss.xTimerTaskHandle timers.o - 0x20008924 - 0x00000004 Zero RW 1885 .bss.xYieldPending tasks.o - 0x20008928 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x20008b28 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000014 COMPRESSED 0x00000294 Data RW 3155 .data.robot_config config.o + 0x200002a8 COMPRESSED 0x00000001 Data RW 728 .data.uwTickFreq stm32f4xx_hal.o + 0x200002a9 COMPRESSED 0x00000003 PAD + 0x200002ac COMPRESSED 0x00000004 Data RW 727 .data.uwTickPrio stm32f4xx_hal.o + 0x200002b0 COMPRESSED 0x00000004 Data RW 2208 .data.uxCriticalNesting port.o + 0x200002b4 COMPRESSED 0x00000004 PAD + 0x200002b8 - 0x00000060 Zero RW 3573 .bss c_w.l(libspace.o) + 0x20000318 - 0x00000068 Zero RW 2292 .bss.CAN_Callback can_1.o + 0x20000380 - 0x00000040 Zero RW 2319 .bss.GPIO_Callback gpio_1.o + 0x200003c0 - 0x00000004 Zero RW 63 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o + 0x200003c4 - 0x00000048 Zero RW 2364 .bss.I2C_Callback i2c_1.o + 0x2000040c - 0x00000004 Zero RW 2136 .bss.KernelState cmsis_os2.o + 0x20000410 - 0x00000002 Zero RW 3094 .bss.R_mode remote.o + 0x20000412 COMPRESSED 0x00000002 PAD + 0x20000414 - 0x00000040 Zero RW 2445 .bss.SPI_Callback spi_1.o + 0x20000454 - 0x00000004 Zero RW 3186 .bss.Shoot_RunningFSM.pos shoot.o + 0x20000458 - 0x00000090 Zero RW 2496 .bss.UART_Callback uart.o + 0x200004e8 - 0x00000048 Zero RW 3145 .bss.ai ai_1.o + 0x20000530 - 0x00000019 Zero RW 3146 .bss.ai_cmd ai_1.o + 0x20000549 - 0x00000019 Zero RW 3120 .bss.ai_g_cmd gimbal_ctrl.o + 0x20000562 COMPRESSED 0x00000006 PAD + 0x20000568 - 0x00000030 Zero RW 3074 .bss.bmi088 atti_esti.o + 0x20000598 - 0x00000013 Zero RW 2854 .bss.bmi088_rxbuf bmi088.o + 0x200005ab - 0x00000002 Zero RW 2855 .bss.buffer bmi088.o + 0x200005ad COMPRESSED 0x00000001 PAD + 0x200005ae - 0x00000002 Zero RW 3081 .bss.calib_count atti_esti.o + 0x200005b0 - 0x00000001 Zero RW 3082 .bss.calib_state atti_esti.o + 0x200005b1 COMPRESSED 0x00000003 PAD + 0x200005b4 - 0x00000008 Zero RW 2936 .bss.can_managers motor_rm.o + 0x200005bc - 0x00000008 Zero RW 3054 .bss.can_managers motor_dm.o + 0x200005c4 - 0x00000004 Zero RW 45 .bss.defaultTaskHandle freertos.o + 0x200005c8 - 0x0000000c Zero RW 3079 .bss.eulr_to_send atti_esti.o + 0x200005d4 - 0x00000004 Zero RW 2776 .bss.fac_ms bsp_delay.o + 0x200005d8 - 0x00000001 Zero RW 2775 .bss.fac_us bsp_delay.o + 0x200005d9 COMPRESSED 0x00000003 PAD + 0x200005dc - 0x00000064 Zero RW 3144 .bss.g_feedback ai_1.o + 0x20000640 - 0x000002f8 Zero RW 3118 .bss.gimbal gimbal_ctrl.o + 0x20000938 - 0x00000014 Zero RW 3075 .bss.gimbal_ahrs atti_esti.o + 0x2000094c - 0x00000014 Zero RW 3121 .bss.gimbal_cmd_ai gimbal_ctrl.o + 0x20000960 - 0x00000014 Zero RW 3122 .bss.gimbal_cmd_remote gimbal_ctrl.o + 0x20000974 - 0x00000034 Zero RW 3119 .bss.gimbal_imu gimbal_ctrl.o + 0x200009a8 - 0x00000034 Zero RW 3084 .bss.gimbal_to_send atti_esti.o + 0x200009dc - 0x0000000c Zero RW 3080 .bss.gyro_sum atti_esti.o + 0x200009e8 - 0x00000028 Zero RW 61 .bss.hcan1 can.o + 0x20000a10 - 0x00000028 Zero RW 62 .bss.hcan2 can.o + 0x20000a38 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o + 0x20000a98 - 0x00000060 Zero RW 107 .bss.hdma_spi1_tx spi.o + 0x20000af8 - 0x00000060 Zero RW 150 .bss.hdma_usart1_rx usart.o + 0x20000b58 - 0x00000060 Zero RW 151 .bss.hdma_usart1_tx usart.o + 0x20000bb8 - 0x00000060 Zero RW 152 .bss.hdma_usart2_rx usart.o + 0x20000c18 - 0x00000060 Zero RW 153 .bss.hdma_usart2_tx usart.o + 0x20000c78 - 0x00000060 Zero RW 154 .bss.hdma_usart3_rx usart.o + 0x20000cd8 - 0x00000060 Zero RW 155 .bss.hdma_usart6_rx usart.o + 0x20000d38 - 0x00000060 Zero RW 156 .bss.hdma_usart6_tx usart.o + 0x20000d98 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o + 0x20000dec - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o + 0x20000e40 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o + 0x20000e98 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o + 0x20000ef0 - 0x00000048 Zero RW 126 .bss.htim10 tim.o + 0x20000f38 - 0x00000048 Zero RW 125 .bss.htim7 tim.o + 0x20000f80 - 0x00000048 Zero RW 146 .bss.huart1 usart.o + 0x20000fc8 - 0x00000048 Zero RW 147 .bss.huart2 usart.o + 0x20001010 - 0x00000048 Zero RW 148 .bss.huart3 usart.o + 0x20001058 - 0x00000048 Zero RW 149 .bss.huart6 usart.o + 0x200010a0 - 0x00000004 Zero RW 2294 .bss.id_parser can_1.o + 0x200010a4 - 0x00000034 Zero RW 3096 .bss.imu remote.o + 0x200010d8 - 0x0000003c Zero RW 3077 .bss.imu_temp_ctrl_pid atti_esti.o + 0x20001114 - 0x00000001 Zero RW 2293 .bss.inited can_1.o + 0x20001115 - 0x00000001 Zero RW 2852 .bss.inited bmi088.o + 0x20001116 COMPRESSED 0x00000002 PAD + 0x20001118 - 0x00000020 Zero RW 3083 .bss.ist8310 atti_esti.o + 0x20001138 - 0x00000004 Zero RW 3073 .bss.jiaozhun atti_esti.o + 0x2000113c - 0x00000001 Zero RW 3187 .bss.last_firecmd shoot.o + 0x2000113d COMPRESSED 0x00000003 PAD + 0x20001140 - 0x0000000c Zero RW 3076 .bss.magn atti_esti.o + 0x2000114c - 0x000000a0 Zero RW 1962 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x200011ec - 0x00000050 Zero RW 1961 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x2000123c - 0x00000004 Zero RW 1958 .bss.prvSampleTimeNow.xLastTime timers.o + 0x20001240 - 0x00000004 Zero RW 1868 .bss.pxCurrentTCB tasks.o + 0x20001244 - 0x00000004 Zero RW 1956 .bss.pxCurrentTimerList timers.o + 0x20001248 - 0x00000004 Zero RW 1876 .bss.pxDelayedTaskList tasks.o + 0x2000124c - 0x00000004 Zero RW 2165 .bss.pxEnd heap_4.o + 0x20001250 - 0x00000004 Zero RW 1877 .bss.pxOverflowDelayedTaskList tasks.o + 0x20001254 - 0x00000004 Zero RW 1957 .bss.pxOverflowTimerList timers.o + 0x20001258 - 0x00000460 Zero RW 1879 .bss.pxReadyTasksLists tasks.o + 0x200016b8 - 0x00000004 Zero RW 2297 .bss.queue_list can_1.o + 0x200016bc - 0x00000004 Zero RW 2295 .bss.queue_mutex can_1.o + 0x200016c0 - 0x00000018 Zero RW 2993 .bss.rc_ctrl remote_control.o + 0x200016d8 - 0x00000014 Zero RW 3095 .bss.remote_cmd remote.o + 0x200016ec - 0x00000002 Zero RW 3134 .bss.s_mode shoot_ctrl.o + 0x200016ee - 0x00000019 Zero RW 2992 .bss.sbus_rx_buf remote_control.o + 0x20001707 COMPRESSED 0x00000001 PAD + 0x20001708 - 0x00000330 Zero RW 3132 .bss.shoot shoot_ctrl.o + 0x20001a38 - 0x00000003 Zero RW 3133 .bss.shoot_cmd shoot_ctrl.o + 0x20001a3b - 0x00000003 Zero RW 3093 .bss.shoot_rc_cmd remote.o + 0x20001a3e COMPRESSED 0x00000002 PAD + 0x20001a40 - 0x00000080 Zero RW 3110 .bss.task_runtime user_task.o + 0x20001ac0 - 0x00000004 Zero RW 2853 .bss.thread_alert bmi088.o + 0x20001ac4 - 0x00000810 Zero RW 2296 .bss.tx_queues can_1.o + 0x200022d4 - 0x00006000 Zero RW 2172 .bss.ucHeap heap_4.o + 0x200082d4 - 0x00000001 Zero RW 2206 .bss.ucMaxSysCallPriority port.o + 0x200082d5 COMPRESSED 0x00000003 PAD + 0x200082d8 - 0x00000004 Zero RW 2207 .bss.ulMaxPRIGROUPValue port.o + 0x200082dc - 0x00000004 Zero RW 1889 .bss.ulTaskSwitchedInTime tasks.o + 0x200082e0 - 0x00000004 Zero RW 1888 .bss.ulTotalRunTime tasks.o + 0x200082e4 - 0x00000004 Zero RW 729 .bss.uwTick stm32f4xx_hal.o + 0x200082e8 - 0x00000004 Zero RW 1872 .bss.uxCurrentNumberOfTasks tasks.o + 0x200082ec - 0x00000004 Zero RW 1871 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x200082f0 - 0x00000004 Zero RW 1874 .bss.uxSchedulerSuspended tasks.o + 0x200082f4 - 0x00000004 Zero RW 1869 .bss.uxTaskNumber tasks.o + 0x200082f8 - 0x00000004 Zero RW 1880 .bss.uxTopReadyPriority tasks.o + 0x200082fc - 0x00000200 Zero RW 2139 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x200084fc - 0x00000064 Zero RW 2138 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20008560 - 0x00000400 Zero RW 2141 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20008960 - 0x00000064 Zero RW 2140 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x200089c4 - 0x00000014 Zero RW 1959 .bss.xActiveTimerList1 timers.o + 0x200089d8 - 0x00000014 Zero RW 1960 .bss.xActiveTimerList2 timers.o + 0x200089ec - 0x00000004 Zero RW 2166 .bss.xBlockAllocatedBit heap_4.o + 0x200089f0 - 0x00000014 Zero RW 1890 .bss.xDelayedTaskList1 tasks.o + 0x20008a04 - 0x00000014 Zero RW 1891 .bss.xDelayedTaskList2 tasks.o + 0x20008a18 - 0x00000004 Zero RW 2167 .bss.xFreeBytesRemaining heap_4.o + 0x20008a1c - 0x00000004 Zero RW 1883 .bss.xIdleTaskHandle tasks.o + 0x20008a20 - 0x00000004 Zero RW 2169 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x20008a24 - 0x00000004 Zero RW 1884 .bss.xNextTaskUnblockTime tasks.o + 0x20008a28 - 0x00000004 Zero RW 1887 .bss.xNumOfOverflows tasks.o + 0x20008a2c - 0x00000004 Zero RW 2170 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x20008a30 - 0x00000004 Zero RW 2171 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x20008a34 - 0x00000004 Zero RW 1886 .bss.xPendedTicks tasks.o + 0x20008a38 - 0x00000014 Zero RW 1881 .bss.xPendingReadyList tasks.o + 0x20008a4c - 0x00000040 Zero RW 1667 .bss.xQueueRegistry queue.o + 0x20008a8c - 0x00000004 Zero RW 1873 .bss.xSchedulerRunning tasks.o + 0x20008a90 - 0x00000008 Zero RW 2168 .bss.xStart heap_4.o + 0x20008a98 - 0x00000014 Zero RW 1878 .bss.xSuspendedTaskList tasks.o + 0x20008aac - 0x00000014 Zero RW 1870 .bss.xTasksWaitingTermination tasks.o + 0x20008ac0 - 0x00000004 Zero RW 1875 .bss.xTickCount tasks.o + 0x20008ac4 - 0x00000004 Zero RW 1953 .bss.xTimerQueue timers.o + 0x20008ac8 - 0x00000004 Zero RW 1955 .bss.xTimerTaskHandle timers.o + 0x20008acc - 0x00000004 Zero RW 1885 .bss.xYieldPending tasks.o + 0x20008ad0 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x20008cd0 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08019190, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08018f90, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -9329,7 +9328,7 @@ Image component sizes 620 0 0 0 84 6416 can.o 3946 4 0 0 2181 14228 can_1.o 2968 0 0 0 1740 35200 cmsis_os2.o - 302 0 0 648 0 4675 config.o + 10 0 0 660 0 4310 config.o 184 0 512 0 0 1255 crc16.o 242 0 0 0 0 3303 dma.o 780 8 0 0 0 3406 filter.o @@ -9351,11 +9350,11 @@ Image component sizes 1128 16 0 4 5 3823 port.o 386 0 8 0 0 5415 pwm.o 3928 0 0 0 64 17312 queue.o - 232 8 0 0 78 1890 remote.o - 266 0 0 0 0 2216 remote_cmd.o + 232 8 0 0 77 1892 remote.o + 218 0 0 0 0 2168 remote_cmd.o 794 8 0 0 49 2421 remote_control.o - 4736 64 0 0 9 10864 shoot.o - 220 12 0 0 414 5720 shoot_ctrl.o + 4572 72 0 0 5 11216 shoot.o + 212 12 0 0 821 5984 shoot_ctrl.o 694 0 0 0 368 5397 spi.o 984 0 0 0 64 7288 spi_1.o 64 26 392 0 1536 816 startup_stm32f407xx.o @@ -9383,9 +9382,9 @@ Image component sizes 0 0 269 0 128 3316 user_task.o ---------------------------------------------------------------------- - 88756 458 1400 680 35872 488729 Object Totals + 88248 466 1400 692 36284 488934 Object Totals 0 0 32 0 0 0 (incl. Generated) - 430 8 1 3 20 0 (incl. Padding) + 434 8 1 3 30 0 (incl. Padding) ---------------------------------------------------------------------- @@ -9462,8 +9461,8 @@ Image component sizes 380 58 0 0 0 200 tanf.o ---------------------------------------------------------------------- - 12012 1080 328 0 96 8736 Library Totals - 30 8 0 0 0 0 (incl. Padding) + 12008 1076 328 0 96 8736 Library Totals + 26 4 0 0 0 0 (incl. Padding) ---------------------------------------------------------------------- @@ -9474,7 +9473,7 @@ Image component sizes 7222 792 328 0 0 3800 m_wm.l ---------------------------------------------------------------------- - 12012 1080 328 0 96 8736 Library Totals + 12008 1076 328 0 96 8736 Library Totals ---------------------------------------------------------------------- @@ -9483,15 +9482,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 100768 1538 1728 680 35968 490985 Grand Totals - 100768 1538 1728 304 35968 490985 ELF Image Totals (compressed) - 100768 1538 1728 304 0 0 ROM Totals + 100256 1542 1728 692 36380 491190 Grand Totals + 100256 1542 1728 304 36380 491190 ELF Image Totals (compressed) + 100256 1542 1728 304 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 102496 ( 100.09kB) - Total RW Size (RW Data + ZI Data) 36648 ( 35.79kB) - Total ROM Size (Code + RO Data + RW Data) 102800 ( 100.39kB) + Total RO Size (Code + RO Data) 101984 ( 99.59kB) + Total RW Size (RW Data + ZI Data) 37072 ( 36.20kB) + Total ROM Size (Code + RO Data + RW Data) 102288 ( 99.89kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index 39cc328..c55646f 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -2156,7 +2156,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) I (..\User\component\calc_lib.h)(0x693AB321) -F (..\User\device\ai.c)(0x6957CB15)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ai.o -MD) +F (..\User\device\ai.c)(0x695895DC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ai.o -MD) I (..\User\device\ai.h)(0x6941B613) I (..\User\component\user_math.h)(0x6943F21A) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) @@ -2352,7 +2352,7 @@ I (..\User\module\struct_typedef.h)(0x693AB322) I (..\User\component\bsp_rc.h)(0x693AB321) I (..\User\device\ai.h)(0x6941B613) I (..\User\module\remote_cmd.h)(0x6957FAC3) -I (..\User\module\shoot.h)(0x68EE6FF5) +I (..\User\module\shoot.h)(0x69588E9B) F (..\User\task\atti_esti.c)(0x6957E358)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/atti_esti.o -MD) I (..\User\task\user_task.h)(0x6957F1E7) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) @@ -2489,7 +2489,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A) I (..\User\bsp\mm.h)(0x6943F21A) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x6943F21A) -I (..\User\module\shoot.h)(0x68EE6FF5) +I (..\User\module\shoot.h)(0x69588E9B) F (..\User\task\user_task.c)(0x6957E357)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/user_task.o -MD) I (..\User\task\user_task.h)(0x6957F1E7) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) @@ -2572,8 +2572,8 @@ I (..\User\device\motor_rm.h)(0x6943F21A) I (..\User\module\config.h)(0x693FC3A8) I (..\User\device\motor_lz.h)(0x6943F21A) I (..\User\device\motor_lk.h)(0x6943F21A) -I (..\User\module\shoot.h)(0x68EE6FF5) -F (..\User\task\shoot_ctrl.c)(0x6957FD8A)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/shoot_ctrl.o -MD) +I (..\User\module\shoot.h)(0x69588E9B) +F (..\User\task\shoot_ctrl.c)(0x69589103)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/shoot_ctrl.o -MD) I (..\User\task\user_task.h)(0x6957F1E7) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -2587,7 +2587,7 @@ 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) -I (..\User\module\shoot.h)(0x68EE6FF5) +I (..\User\module\shoot.h)(0x69588E9B) I (..\Core\Inc\main.h)(0x693FEFE9) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9) @@ -2621,12 +2621,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) -I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\pid.h)(0x6943F21A) I (..\User\component\filter.h)(0x6943F21A) I (..\User\component\user_math.h)(0x6943F21A) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\device\motor_rm.h)(0x6943F21A) I (..\User\device\motor.h)(0x6943F21A) I (..\User\device\device.h)(0x6943F21A) @@ -2710,7 +2710,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A) I (..\User\bsp\mm.h)(0x6943F21A) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x6943F21A) -F (..\User\module\config.c)(0x69580122)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD) +F (..\User\module\config.c)(0x695898BA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD) I (..\User\component\user_math.h)(0x6943F21A) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) @@ -2776,10 +2776,12 @@ I (..\User\component\filter.h)(0x6943F21A) I (..\User\component\pid.h)(0x6943F21A) I (..\User\device\motor_dm.h)(0x6943F21A) I (..\User\device\motor_rm.h)(0x6943F21A) -I (..\User\module\shoot.h)(0x68EE6FF5) -F (..\User\module\shoot.c)(0x68EE49C5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/shoot.o -MD) +I (..\User\module\shoot.h)(0x69588E9B) +F (..\User\module\shoot.c)(0x695895DC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/shoot.o -MD) +I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\module\shoot.h)(0x68EE6FF5) +I (..\User\module\shoot.h)(0x69588E9B) +I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (..\Core\Inc\main.h)(0x693FEFE9) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9) @@ -2795,7 +2797,6 @@ I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646) I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645) -I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645) @@ -2815,12 +2816,11 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) -I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\pid.h)(0x6943F21A) I (..\User\component\filter.h)(0x6943F21A) I (..\User\component\user_math.h)(0x6943F21A) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) +I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\device\motor_rm.h)(0x6943F21A) I (..\User\device\motor.h)(0x6943F21A) I (..\User\device\device.h)(0x6943F21A) @@ -2904,7 +2904,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x6943F21A) I (..\User\bsp\time.h)(0x6943F21A) -F (..\User\module\remote_cmd.c)(0x6957FD5C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote_cmd.o -MD) +F (..\User\module\remote_cmd.c)(0x69589322)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote_cmd.o -MD) I (..\User\module\remote_cmd.h)(0x6957FAC3) I (..\User\component\user_math.h)(0x6943F21A) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) @@ -2971,7 +2971,7 @@ I (..\User\device\motor_rm.h)(0x6943F21A) I (..\User\device\remote_control.h)(0x6957E45B) I (..\User\module\struct_typedef.h)(0x693AB322) I (..\User\component\bsp_rc.h)(0x693AB321) -I (..\User\module\shoot.h)(0x68EE6FF5) +I (..\User\module\shoot.h)(0x69588E9B) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\uart.h)(0x6943F21A) I (..\Core\Inc\usart.h)(0x6940024F) diff --git a/MDK-ARM/gimbal/init.o b/MDK-ARM/gimbal/init.o index f72334a08a33fe7043b2c5be54a03e4f975e574f..ea608d7f4b4457fdaef7190d7cfe355979a1d5f0 100644 GIT binary patch delta 14 VcmeB?=#kjqz{tqF*^%)y7XTma1PA~C delta 14 VcmeB?=#kjqz{tq5*^%)y7XTmg1PK5D diff --git a/MDK-ARM/gimbal/remote.o b/MDK-ARM/gimbal/remote.o index 194793178ee4f37aab2d5058020e24cdbb5a447e..0eb7178b17f1201b783dcdee5cd0f39aee3fba4e 100644 GIT binary patch delta 624 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zbp$^uqbJYTkomL@2Io=!1rzMHmEh{Pw}Fu)n{o_P&#-zw|Ak`#U(nUj+>Q2%S!vMnMYwy<0s#uV@d} Y{^|Dz1z+5i9m diff --git a/User/device/ai.c b/User/device/ai.c index 7dbaadd..2f2abfa 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -55,7 +55,7 @@ int8_t AI_ParseHost(AI_t* ai,Gimbal_Feedback_t* g_feedback){ ai->TX.q[3]=g_feedback->imu.quat.q3; ai->TX.bullet_count=10; - ai->TX.bullet_speed=10; + ai->TX.bullet_speed=22; ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t), CRC16_INIT ); if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){ diff --git a/User/module/config.c b/User/module/config.c index a06640e..fe979d0 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -175,116 +175,128 @@ Config_RobotParam_t robot_config = { }, .shoot_param = { - .proj=SHOOT_PROJECTILE_17MM, - .fric_num=4, - .extra_deceleration_ratio=1.0f, - .num_trig_tooth=2, - .shot_freq=20.0f, - .shot_burst_num=10, - .num_multilevel=1, - .jam_enable=false, - .jam_threshold=120.0f, - .jam_suspected_time=0.5f, - .trig_motor_param = { - .can = BSP_CAN_2, - .id = 0x207, - .module = MOTOR_M2006, - .reverse = true, - .gear=true, + .basic={ + .projectileType=SHOOT_PROJECTILE_17MM, + .fric_num=2, + .extra_deceleration_ratio=1.0f, + .num_trig_tooth=8, + .shot_freq=20.0f, + .shot_burst_num=5, + .ratio_multilevel = {1.0f}, + }, + .jamDetection={ + .enable=true, + .threshold=105.0f, + .suspectedTime=1.0f, }, -// .fric_motor_param = (Shoot_MOTOR_RM_Param_t[]){ -// { -// .param = { -// .can = BSP_CAN_2, -// .id = 0x201, -// .module = MOTOR_M3508, -// .reverse = false, -// .gear=true,}, -// .level = 1}, -// { -// .param = { -// .can = BSP_CAN_2, -// .id = 0x203, -// .module = MOTOR_M3508, -// .reverse = true, -// .gear=true,}, -// .level = 1}, -//// {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2}, -// {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2}, -// }, - .fric_follow = { - .k=1.0f, - .p=1.8f, - .i=0.0f, - .d=0.0f, - .i_limit=0.0f, - .out_limit=0.9f, - .d_cutoff_freq=30.0f, - .range=-1.0f, + .motor={ + .fric = { + { + .param = { + .can = BSP_CAN_2, + .id = 0x201, + .module = MOTOR_M2006, + .reverse = false, + .gear = false, + }, + .level=1, + }, + { + .param = { + .can = BSP_CAN_2, + .id = 0x202, + .module = MOTOR_M2006, + .reverse = true, + .gear = false, + }, + .level=1, + }, + + }, + .trig = { + .can = BSP_CAN_2, + .id = 0x203, + .module = MOTOR_M2006, + .reverse = false, + .gear=true, + }, }, - .fric_err = { - .k=0.0f, - .p=4.0f, - .i=0.4f, - .d=0.04f, - .i_limit=0.25f, - .out_limit=0.25f, - .d_cutoff_freq=40.0f, - .range=-1.0f, - }, - .trig_2006 = { - .k=0.5f, - .p=1.0f, - .i=0.1f, - .d=0.05f, - .i_limit=0.8f, - .out_limit=0.5f, - .d_cutoff_freq=-1.0f, - .range=M_2PI, - }, - .trig_omg_2006 = { - .k=0.5f, - .p=1.5f, - .i=0.3f, - .d=0.5f, - .i_limit=0.2f, - .out_limit=0.9f, - .d_cutoff_freq=-1.0f, - .range=-1.0f, - }, - .trig_3508 = { - .k=0.5f, - .p=1.8f, - .i=0.3f, - .d=0.1f, - .i_limit=0.15f, - .out_limit=1.0f, - .d_cutoff_freq=-1.0f, - .range=M_2PI, - }, - .trig_omg_3508 = { - .k=1.0f, - .p=1.0f, - .i=0.0f, - .d=0.0f, - .i_limit=0.0f, - .out_limit=1.0f, - .d_cutoff_freq=-1.0f, - .range=-1.0f, - }, - .filter.fric = { - .in = 30.0f, - .out = 30.0f, - }, - .filter.trig = { - .in = 30.0f, - .out = 30.0f, + .pid={ + .fric_follow = { + .k=1.0f, + .p=1.5f, + .i=0.3f, + .d=0.0f, + .i_limit=0.2f, + .out_limit=0.9f, + .d_cutoff_freq=-1.0f, + .range=-1.0f, + }, + .fric_err = { + .k=0.0f, + .p=4.0f, + .i=0.4f, + .d=0.0f, + .i_limit=0.25f, + .out_limit=0.25f, + .d_cutoff_freq=-1.0f, + .range=-1.0f, + }, + .trig_2006 = { + .k=1.0f, + .p=1.0f, + .i=0.1f, + .d=0.04f, + .i_limit=0.4f, + .out_limit=1.0f, + .d_cutoff_freq=-1.0f, + .range=M_2PI, + }, + .trig_omg_2006 = { + .k=2.0f, + .p=1.5f, + .i=0.3f, + .d=0.5f, + .i_limit=0.2f, + .out_limit=1.0f, + .d_cutoff_freq=-1.0f, + .range=-1.0f, + }, + .trig_3508 = { + .k=0.5f, + .p=1.8f, + .i=0.3f, + .d=0.1f, + .i_limit=0.15f, + .out_limit=1.0f, + .d_cutoff_freq=-1.0f, + .range=M_2PI, + }, + .trig_omg_3508 = { + .k=1.0f, + .p=1.0f, + .i=0.0f, + .d=0.0f, + .i_limit=0.0f, + .out_limit=1.0f, + .d_cutoff_freq=-1.0f, + .range=-1.0f, + }, }, + .filter={ + .fric = { + .in = 30.0f, + .out = 30.0f, + }, + .trig = { + .in = 30.0f, + .out = 30.0f, + }, + }, }, }; - /** * @brief 获取机器人配置参数 * @return 机器人配置参数指针 @@ -293,38 +305,3 @@ Config_RobotParam_t* Config_GetRobotParam(void) { return &robot_config; } -int8_t Config_ShootInit(void) { - int fric_num = robot_config.shoot_param.fric_num; - int num_multilevel = robot_config.shoot_param.num_multilevel; - robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t)); - if (robot_config.shoot_param.fric_motor_param == NULL) { - BSP_Free(robot_config.shoot_param.fric_motor_param); - return -1; // 内存分配失败 - } - robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float)); - if (robot_config.shoot_param.ratio_multilevel == NULL) { - BSP_Free(robot_config.shoot_param.ratio_multilevel); - return -1; // 内存分配失败 - } - /* 初始化摩擦轮电机参数 */ - for (uint8_t i = 0; i < fric_num; i++) { - robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){ - .can = BSP_CAN_2, - .id = 0x201 + i, - .module = MOTOR_M3508, - /*设置电机反装；example*********************** - .reverse = (i == 0||1||3||5) ? true : false,*/ - - .reverse = (i == 1) ? true : false, - .gear = false, - }; - } - /*规定电机属于哪级发射；example************************ - robot_config.shoot_param.fric_motor_param[0].level=1;*/ - robot_config.shoot_param.fric_motor_param[0].level=1; - robot_config.shoot_param.fric_motor_param[1].level=1; - /*规定各级摩擦轮转速比；example********************* - robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/ - robot_config.shoot_param.ratio_multilevel[0]=1.0f; - return SHOOT_OK; -} \ No newline at end of file diff --git a/User/module/remote_cmd.c b/User/module/remote_cmd.c index 39cf4ae..254e4c1 100644 --- a/User/module/remote_cmd.c +++ b/User/module/remote_cmd.c @@ -9,13 +9,13 @@ #include "shoot.h" int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu) { - if(rc_ctrl->sw[1]==306){ + if(rc_ctrl->sw[5]==200){ g_cmd->mode=GIMBAL_MODE_ABSOLUTE; // g_cmd->delta_pit=((rc_ctrl->ch[1]-114)*(0.1/758));//806~-780,0.473~-0.71 // g_cmd->delta_yaw=((rc_ctrl->ch[0]+84)*(1.8/781));//400~-397 } - else if(rc_ctrl->sw[1]==1694) + else if(rc_ctrl->sw[5]==1800) { g_cmd->mode=GIMBAL_MODE_RELAX; } @@ -24,43 +24,38 @@ int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu) int8_t shoot_remote_cmd(Shoot_CMD_t *s_cmd,RC_ctrl_t *rc_ctrl,Remote_Mode *mode) { - if(rc_ctrl!=NULL){ - s_cmd->online=true; - s_cmd->mode=true; - } +// if(rc_ctrl!=NULL){ +// s_cmd->online=true; +// } - if(rc_ctrl->sw[6]==1000){ - s_cmd->online=false; - s_cmd->mode=false; - } - - - if(rc_ctrl->sw[3]==1800){ + if(rc_ctrl->sw[3]==1800){ s_cmd->firecmd=false; s_cmd->ready=false; } - if(rc_ctrl->sw[3]==1000) - { + + + if(rc_ctrl->sw[3]==1000){ s_cmd->firecmd=false; s_cmd->ready=true; } - if(rc_ctrl->sw[3]==200) + if(rc_ctrl->sw[3]==200) { s_cmd->firecmd=true; s_cmd->ready=true; + } - if(rc_ctrl->sw[4]==200){ + if(rc_ctrl->sw[4]==1800){ mode->S_Mode= SHOOT_MODE_SAFE ; /* 安全模式 */ } if(rc_ctrl->sw[4]==1000) { mode->S_Mode= SHOOT_MODE_SINGLE ; /* 安全模式 */ } - if(rc_ctrl->sw[4]==1800) + if(rc_ctrl->sw[4]==200) { - mode->S_Mode= SHOOT_MODE_BURST ; /* 安全模式 */ + mode->S_Mode= SHOOT_MODE_CONTINUE ; /* 安全模式 */ } } diff --git a/User/module/shoot.c b/User/module/shoot.c index 478a739..cb21831 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -13,7 +13,7 @@ void Task(void *argument) { Config_ShootInit(); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); - Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 初始化一个模式 + Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 关于模式选择：初始化一个模式 while (1) { @@ -21,7 +21,7 @@ void Task(void *argument) { shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready; shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd; - shoot.mode =shoot_ctrl_cmd_rc.mode; 或者用遥控器随时切换模式；二选一 + shoot.mode =shoot_ctrl_cmd_rc.mode; 关于模式选择：或者用遥控器随时切换模式，二选一 Chassis_UpdateFeedback(&shoot); Shoot_Control(&shoot,&shoot_cmd); @@ -31,6 +31,7 @@ void Task(void *argument) { /* Includes ----------------------------------------------------------------- */ +#include #include #include "shoot.h" #include "bsp/mm.h" @@ -39,10 +40,12 @@ void Task(void *argument) { #include "component/user_math.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ -#define WONDERFUL_COMPENSATION_FORHERO 0.010478f//给英雄做的补偿 +#define MAX_FRIC_RPM 7000.0f +#define MAX_TRIG_RPM 4000.0f//这里可能也会影响最高发射频率，待测试 /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ static bool last_firecmd; + /* Private function -------------------------------------------------------- */ /** @@ -59,7 +62,6 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode) return SHOOT_ERR_NULL; // 参数错误 } s->mode=mode; - s->anglecalu.num_to_shoot=0; return SHOOT_OK; } @@ -75,7 +77,7 @@ int8_t Shoot_ResetIntegral(Shoot_t *s) if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - uint8_t fric_num = s->param->fric_num; + uint8_t fric_num = s->param->basic.fric_num; for(int i=0;ipid.fric_follow[i]); @@ -98,7 +100,7 @@ int8_t Shoot_ResetCalu(Shoot_t *s) if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - uint8_t fric_num = s->param->fric_num; + uint8_t fric_num = s->param->basic.fric_num; for(int i=0;ipid.fric_follow[i]); @@ -125,7 +127,7 @@ int8_t Shoot_ResetOutput(Shoot_t *s) if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - uint8_t fric_num = s->param->fric_num; + uint8_t fric_num = s->param->basic.fric_num; for(int i=0;ioutput.out_follow[i]=0.0f; @@ -138,6 +140,22 @@ int8_t Shoot_ResetOutput(Shoot_t *s) s->output.outlpf_trig=0.0f; return SHOOT_OK; } +//float last_angle=0.0f; +//float speed=0.0f; +//int8_t Shoot_CalufeedbackRPM(Shoot_t *s) +//{ +// if (s == NULL) { +// return SHOOT_ERR_NULL; // 参数错误 +// } +//// static +// float err; +// err=CircleError(s->feedback.fric[0].rotor_abs_angle,last_angle,M_2PI); +// speed=err/s->dt/M_2PI*60.0f; +// last_angle=s->feedback.fric->rotor_abs_angle; + + +// return SHOOT_OK; +//} /** * \brief 根据目标弹丸速度计算摩擦轮目标转速 @@ -152,13 +170,13 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - switch(s->param->proj) + switch(s->param->basic.projectileType) { case SHOOT_PROJECTILE_17MM: - s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM; + s->target_variable.fric_rpm=6350.0f; break; case SHOOT_PROJECTILE_42MM: - s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM; + s->target_variable.fric_rpm=4000.0f; break; } return SHOOT_OK; @@ -174,23 +192,54 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) */ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) { - if (s == NULL || s->anglecalu.num_to_shoot == 0) { + if (s == NULL || s->var_trig.num_toShoot == 0) { return SHOOT_ERR_NULL; } - float dt = s->now - s->anglecalu.time_last_shoot; + float dt = s->timer.now - s->var_trig.time_lastShoot; float dpos; - dpos = CircleError(s->target_variable.target_angle, s->feedback.trig_agl, M_2PI); - if(dt >= 1.0f/s->param->shot_freq && cmd->firecmd && dpos<=1.0f) + dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); + if(dt >= 1.0f/s->param->basic.shot_freq && cmd->firecmd && dpos<=1.0f) { - s->anglecalu.time_last_shoot=s->now; - CircleAdd(&s->target_variable.target_angle, M_2PI/s->param->num_trig_tooth, M_2PI); - if(s->param->trig_motor_param.module==MOTOR_M3508){ - s->target_variable.target_angle+=WONDERFUL_COMPENSATION_FORHERO;} - s->anglecalu.num_to_shoot--; + s->var_trig.time_lastShoot=s->timer.now; + CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); + s->var_trig.num_toShoot--; } return SHOOT_OK; } +static float Shoot_CaluCoupledWeight(Shoot_t *s, uint8_t fric_index) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + + float Threshold; + switch (s->param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: + Threshold=50.0f; + break; + case SHOOT_PROJECTILE_42MM: + Threshold=400.0f; + break; + default: + return 0.0f; + } + + float err; + err=fabs((s->param->basic.ratio_multilevel[fric_index] + *s->target_variable.fric_rpm) + -s->feedback.fric[fric_index].rotor_speed); + if (errvar_fric.coupled_control_weights=1.0f-(err*err)/(Threshold*Threshold); + } + else + { + s->var_fric.coupled_control_weights=0.0f; + } + return s->var_fric.coupled_control_weights; +} + /** * \brief 更新射击模块的电机反馈信息 * @@ -198,44 +247,46 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) * * \return 函数运行结果 */ -int8_t Chassis_UpdateFeedback(Shoot_t *s) +int8_t Shoot_UpdateFeedback(Shoot_t *s) { if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - float rpm_sum=0.0f; - uint8_t fric_num = s->param->fric_num; + uint8_t fric_num = s->param->basic.fric_num; for(int i = 0; i < fric_num; i++) { /* 更新摩擦轮电机反馈 */ - MOTOR_RM_Update(&s->param->fric_motor_param[i].param); - MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i].param); + MOTOR_RM_Update(&s->param->motor.fric[i].param); + MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->motor.fric[i].param); if(motor_fed!=NULL) { s->feedback.fric[i]=motor_fed->motor.feedback; } /* 滤波摩擦轮电机转速反馈 */ - s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed); + s->var_fric.fil_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed); /* 归一化摩擦轮电机转速反馈 */ - s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM; - if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f; - if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f; + s->var_fric.normalized_fil_rpm[i] = s->var_fric.fil_rpm[i] / MAX_FRIC_RPM; + if(s->var_fric.normalized_fil_rpm[i]>1.0f)s->var_fric.normalized_fil_rpm[i]=1.0f; + if(s->var_fric.normalized_fil_rpm[i]<-1.0f)s->var_fric.normalized_fil_rpm[i]=-1.0f; /* 计算平均摩擦轮电机转速反馈 */ - rpm_sum+=s->feedback.fric_rpm[i]; + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1]+=s->var_fric.normalized_fil_rpm[i]; + } + for (int i=1; ivar_fric.normalized_fil_avgrpm[i]=s->var_fric.normalized_fil_avgrpm[i]/fric_num/MAX_NUM_MULTILEVEL; } - s->feedback.fric_avgrpm=rpm_sum/fric_num; /* 更新拨弹电机反馈 */ - MOTOR_RM_Update(&s->param->trig_motor_param); - s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param); - s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; - while(s->feedback.trig_agl<0)s->feedback.trig_agl+=M_2PI; - while(s->feedback.trig_agl>=M_2PI)s->feedback.trig_agl-=M_2PI; + MOTOR_RM_Update(&s->param->motor.trig); + s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->motor.trig); + s->var_trig.trig_agl=s->param->basic.extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; + while(s->var_trig.trig_agl<0)s->var_trig.trig_agl+=M_2PI; + while(s->var_trig.trig_agl>=M_2PI)s->var_trig.trig_agl-=M_2PI; if (s->feedback.trig.motor.reverse) { - s->feedback.trig_agl = M_2PI - s->feedback.trig_agl; + s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl; } - s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed); - s->feedback.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM; - if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f; - if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f; + s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed); + s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM; + if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f; + if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f; s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed; return SHOOT_OK; @@ -254,34 +305,33 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) if (s == NULL || cmd == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - uint8_t fric_num = s->param->fric_num; - uint8_t num_multilevel = s->param->num_multilevel; - if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){ - for(int i=0;iparam->fric_motor_param[i].param); - } - MOTOR_RM_Relax(&s->param->trig_motor_param); + uint8_t fric_num = s->param->basic.fric_num; + static float pos; + if(s->mode==SHOOT_MODE_SAFE){ + for(int i=0;iparam->motor.fric[i].param); + } + MOTOR_RM_Relax(&s->param->motor.trig);\ + pos=s->target_variable.trig_angle=s->var_trig.trig_agl; } else{ - static float pos; switch(s->running_state) { - case SHOOT_STATE_IDLE:/*熄火等待*/ - for(int i=0;ipid.fric_follow[i]); - s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt); + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->var_fric.normalized_fil_rpm[i],0,s->timer.dt); s->output.out_fric[i]=s->output.out_follow[i]; s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); - MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]); + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); } - s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_agl,0,s->dt); - s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); + s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->var_trig.trig_agl,0,s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->var_trig.trig_rpm,0,s->timer.dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); - MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); /* 检查状态机 */ if(cmd->ready) @@ -292,46 +342,47 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) s->running_state=SHOOT_STATE_READY; } break; - + case SHOOT_STATE_READY:/*准备射击*/ - Shoot_CaluTargetRPM(s,233); for(int i=0;iparam->fric_motor_param->level-1; - float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm; - /* 计算跟随输出、计算修正输出 */ - a=s->target_variable.target_rpm/MAX_FRIC_RPM; + uint8_t level=s->param->motor.fric[i].level-1; + float target_rpm=s->param->basic.ratio_multilevel[level] + *s->target_variable.fric_rpm/MAX_FRIC_RPM; + /* 计算耦合控制权重 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], target_rpm, - s->feedback.fric_rpm[i], + s->var_fric.normalized_fil_rpm[i], 0, - s->dt); - s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i], - s->feedback.fric_avgrpm, - s->feedback.fric_rpm[i], + s->timer.dt); + s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i], + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1], + s->var_fric.normalized_fil_rpm[i], 0, - s->dt); + s->timer.dt); /* 按比例缩放并加和输出 */ ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; /* 滤波 */ s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); /* 设置输出 */ - MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]); + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); } /* 设置拨弹电机输出 */ s->output.outagl_trig =PID_Calc(&s->pid.trig, pos, - s->feedback.trig_agl, + s->var_trig.trig_agl, 0, - s->dt); + s->timer.dt); s->output.outomg_trig =PID_Calc(&s->pid.trig_omg, s->output.outagl_trig, - s->feedback.trig_rpm, + s->var_trig.trig_rpm, 0, - s->dt); + s->timer.dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); - MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); /* 检查状态机 */ if(!cmd->ready) @@ -340,23 +391,23 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) Shoot_ResetOutput(s); s->running_state=SHOOT_STATE_IDLE; } - else if(last_firecmd==false&&cmd->firecmd==true) + else if(last_firecmd==false&&cmd->firecmd==true) { s->running_state=SHOOT_STATE_FIRE; /* 根据模式设置待发射弹数 */ switch(s->mode) { case SHOOT_MODE_SINGLE: - s->anglecalu.num_to_shoot=1; + s->var_trig.num_toShoot=1; break; case SHOOT_MODE_BURST: - s->anglecalu.num_to_shoot=s->param->shot_burst_num; + s->var_trig.num_toShoot=s->param->basic.shot_burst_num; break; case SHOOT_MODE_CONTINUE: - s->anglecalu.num_to_shoot=6666; + s->var_trig.num_toShoot=6666; break; default: - s->anglecalu.num_to_shoot=0; + s->var_trig.num_toShoot=0; break; } } @@ -366,46 +417,50 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) Shoot_CaluTargetAngle(s, cmd); for(int i=0;iparam->fric_motor_param->level-1; - float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm; - /* 计算跟随输出、计算修正输出 */ + uint8_t level=s->param->motor.fric[i].level-1; + float target_rpm=s->param->basic.ratio_multilevel[level] + *s->target_variable.fric_rpm/MAX_FRIC_RPM; + /* 计算耦合控制权重 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], target_rpm, - s->feedback.fric_rpm[i], + s->var_fric.normalized_fil_rpm[i], 0, - s->dt); - s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i], - s->feedback.fric_avgrpm, - s->feedback.fric_rpm[i], + s->timer.dt); + s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i], + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1], + s->var_fric.normalized_fil_rpm[i], 0, - s->dt); + s->timer.dt); /* 按比例缩放并加和输出 */ ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; /* 滤波 */ s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); /* 设置输出 */ - MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]); + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); } /* 设置拨弹电机输出 */ s->output.outagl_trig =PID_Calc(&s->pid.trig, - s->target_variable.target_angle, - s->feedback.trig_agl, + s->target_variable.trig_angle, + s->var_trig.trig_agl, 0, - s->dt); + s->timer.dt); s->output.outomg_trig =PID_Calc(&s->pid.trig_omg, s->output.outagl_trig, - s->feedback.trig_rpm, + s->var_trig.trig_rpm, 0, - s->dt); + s->timer.dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); - MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); /* 检查状态机 */ if(!cmd->firecmd) { - s->running_state=SHOOT_STATE_READY; - pos=s->feedback.trig_agl; + s->running_state=SHOOT_STATE_READY; + pos=s->var_trig.trig_agl; + s->var_trig.num_toShoot=0; } break; @@ -415,12 +470,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) } } /* 输出 */ - MOTOR_RM_Ctrl(&s->param->fric_motor_param[0].param); - if(s->param->fric_num>4) + MOTOR_RM_Ctrl(&s->param->motor.fric[0].param); + if(s->param->basic.fric_num>4) { - MOTOR_RM_Ctrl(&s->param->fric_motor_param[4].param); + MOTOR_RM_Ctrl(&s->param->motor.fric[4].param); } - MOTOR_RM_Ctrl(&s->param->trig_motor_param); + MOTOR_RM_Ctrl(&s->param->motor.trig); last_firecmd = cmd->firecmd; return SHOOT_OK; } @@ -438,61 +493,57 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd) if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - if(s->param->jam_enable){ - switch (s->jamdetection.jamfsm_state) { + if(s->param->jamDetection.enable){ + switch (s->jamdetection.fsmState) { case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */ /* 检测电流是否超过阈值 */ - if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) { - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED; - s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */ + if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jamDetection.threshold) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_SUSPECTED; + s->jamdetection.lastTime = s->timer.now; /* 记录怀疑开始时间 */ } /* 正常运行射击状态机 */ Shoot_RunningFSM(s, cmd); break; - case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */ /* 检测电流是否低于阈值 */ - if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) { - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; + if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jamDetection.threshold) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; break; } /* 检测高阈值状态是否超过设定怀疑时间 */ - else if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) { - s->jamdetection.jam_detected =true; - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED; + else if ((s->timer.now - s->jamdetection.lastTime) >= s->param->jamDetection.suspectedTime) { + s->jamdetection.detected =true; + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_CONFIRMED; break; } /* 正常运行射击状态机 */ Shoot_RunningFSM(s, cmd); break; - case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */ /* 清空待发射弹 */ - s->anglecalu.num_to_shoot=0; + s->var_trig.num_toShoot=0; /* 修改拨弹盘目标角度 */ - s->target_variable.target_angle = s->feedback.trig_agl-(M_2PI/s->param->num_trig_tooth); + s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth); /* 切换状态 */ - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL; + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL; /* 记录处理开始时间 */ - s->jamdetection.jam_last_time = s->now; - + s->jamdetection.lastTime = s->timer.now; case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */ /* 正常运行射击状态机 */ Shoot_RunningFSM(s, cmd); /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */ - if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; + if ((s->timer.now - s->jamdetection.lastTime)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; } break; - default: - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; break; } } else{ - s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL; - s->jamdetection.jam_detected = false; + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + s->jamdetection.detected = false; Shoot_RunningFSM(s, cmd); } @@ -513,71 +564,64 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) if (s == NULL || param == NULL || target_freq <= 0.0f) { return SHOOT_ERR_NULL; // 参数错误 } - uint8_t fric_num = param->fric_num; - - /* 分配内存 */ + uint8_t fric_num = param->basic.fric_num; s->param=param; - s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t)); - s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->pid.fric_follow = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); - s->pid.fric_err = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); - s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t)); - s->filter.fric.out = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t)); - - /* 内存分配失败 */ - if (s->feedback.fric == NULL || s->feedback.fil_fric_rpm == NULL || s->feedback.fric_rpm == NULL || - s->output.out_follow == NULL || s->output.out_err == NULL || s->output.out_fric == NULL || - s->output.lpfout_fric == NULL || s->param->fric_motor_param == NULL || s->pid.fric_follow == NULL || - s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) { - BSP_Free(s->feedback.fric); - BSP_Free(s->feedback.fil_fric_rpm); - BSP_Free(s->feedback.fric_rpm); - BSP_Free(s->output.out_follow); - BSP_Free(s->output.out_err); - BSP_Free(s->output.out_fric); - BSP_Free(s->output.lpfout_fric); - BSP_Free(s->param->fric_motor_param); - BSP_Free(s->pid.fric_follow); - BSP_Free(s->pid.fric_err); - BSP_Free(s->filter.fric.in); - BSP_Free(s->filter.fric.out); - return SHOOT_ERR_MALLOC;} - BSP_CAN_Init(); /* 初始化摩擦轮PID和滤波器 */ for(int i=0;ifric_motor_param[i].param); - PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,¶m->fric_follow); - PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,¶m->fric_err); - LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in); - LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out); + MOTOR_RM_Register(¶m->motor.fric[i].param); + PID_Init(&s->pid.fric_follow[i], + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.fric_follow); + PID_Init(&s->pid.fric_err[i], + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.fric_err); + LowPassFilter2p_Init(&s->filter.fric.in[i], + target_freq, + s->param->filter.fric.in); + LowPassFilter2p_Init(&s->filter.fric.out[i], + target_freq, + s->param->filter.fric.out); } /* 初始化拨弹PID和滤波器 */ - MOTOR_RM_Register(¶m->trig_motor_param); - switch(s->param->trig_motor_param.module) + MOTOR_RM_Register(¶m->motor.trig); + switch(s->param->motor.trig.module) { case MOTOR_M3508: - PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,¶m->trig_3508); - PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,¶m->trig_omg_3508); + PID_Init(&s->pid.trig, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_3508); + PID_Init(&s->pid.trig_omg, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_omg_3508); break; case MOTOR_M2006: - PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,¶m->trig_2006); - PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,¶m->trig_omg_2006); + PID_Init(&s->pid.trig, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_2006); + PID_Init(&s->pid.trig_omg, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_omg_2006); break; default: return SHOOT_ERR_MOTOR; break; } - LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in); - LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out); + LowPassFilter2p_Init(&s->filter.trig.in, + target_freq, + s->param->filter.trig.in); + LowPassFilter2p_Init(&s->filter.trig.out, + target_freq, + s->param->filter.trig.out); /* 归零变量 */ - memset(&s->anglecalu,0,sizeof(s->anglecalu)); + memset(&s->var_trig,0,sizeof(s->var_trig)); return SHOOT_OK; } @@ -594,11 +638,13 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) if (s == NULL || cmd == NULL) { return SHOOT_ERR_NULL; // 参数错误 } - s->now =BSP_TIME_Get_us() / 1000000.0f; - s->dt =(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f; - s->lask_wakeup =BSP_TIME_Get_us(); - s->online =cmd->online; + s->timer.now = BSP_TIME_Get_us() / 1000000.0f; + s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f; + s->timer.lask_wakeup = BSP_TIME_Get_us(); + Shoot_CaluTargetRPM(s,233); + Shoot_JamDetectionFSM(s, cmd); +// Shoot_CalufeedbackRPM(s); return SHOOT_OK; } diff --git a/User/module/shoot.h b/User/module/shoot.h index 2b7a77e..f119468 100644 --- a/User/module/shoot.h +++ b/User/module/shoot.h @@ -4,45 +4,44 @@ #pragma once +#include #ifdef __cplusplus extern "C" { #endif #include "main.h" -#include #include "component/pid.h" #include "device/motor_rm.h" - - /* Exported constants ------------------------------------------------------- */ +#define MAX_FRIC_NUM 2 +#define MAX_NUM_MULTILEVEL 1 /* 多级发射级数 */ + #define SHOOT_OK (0) /* 运行正常 */ #define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */ #define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */ #define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */ #define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ #define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */ - -#define MAX_FRIC_RPM 7000.0f -#define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试 /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ typedef enum { - SHOOT_JAMFSM_STATE_NORMAL = 0, /* 常规状态 */ - SHOOT_JAMFSM_STATE_SUSPECTED, /* 怀疑状态 */ - SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */ - SHOOT_JAMFSM_STATE_DEAL /* 处理状态 */ + SHOOT_JAMFSM_STATE_NORMAL = 0,/* 常规状态 */ + SHOOT_JAMFSM_STATE_SUSPECTED, /* 怀疑状态 */ + SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */ + SHOOT_JAMFSM_STATE_DEAL /* 处理状态 */ }Shoot_JamDetectionFSM_State_t; typedef enum { - SHOOT_STATE_IDLE = 0, /* 熄火 */ - SHOOT_STATE_READY, /* 准备射击 */ - SHOOT_STATE_FIRE /* 射击 */ + SHOOT_STATE_IDLE = 0,/* 熄火 */ + SHOOT_STATE_READY, /* 准备射击 */ + SHOOT_STATE_FIRE /* 射击 */ }Shoot_Running_State_t; typedef enum { - SHOOT_MODE_SAFE = 0, /* 安全模式 */ - SHOOT_MODE_SINGLE, /* 单发模式 */ - SHOOT_MODE_BURST, /* 多发模式 */ - SHOOT_MODE_CONTINUE /* 连发模式 */ + SHOOT_MODE_SAFE = 0,/* 安全模式 */ + SHOOT_MODE_SINGLE, /* 单发模式 */ + SHOOT_MODE_BURST, /* 多发模式 */ + SHOOT_MODE_CONTINUE,/* 连发模式 */ + SHOOT_MODE_NUM }Shoot_Mode_t; typedef enum { @@ -50,139 +49,141 @@ typedef enum { SHOOT_PROJECTILE_42MM, }Shoot_Projectile_t; -typedef struct { - bool online; /* 遥控器在线 */ - bool mode; /* 射击模式 */ - bool ready; /* 准备射击 */ - bool firecmd; /* 射击指令 */ -}Shoot_CMD_t; - typedef struct{ MOTOR_RM_Param_t param; - uint8_t level; /*电机属于几级发射；1起始；num_multilevel大于1时有效，且不可大于num_multilevel*/ + uint8_t level; /* 电机属于第几级发射；1起始 */ }Shoot_MOTOR_RM_Param_t; typedef struct { - MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */ - MOTOR_RM_t trig; /* 拨弹电机反馈 */ - - float trig_agl; /*计算所有减速比后的拨弹盘的角度*/ - - float *fil_fric_rpm; /* 滤波后的摩擦轮转速 */ - float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ - - float *fric_rpm; /* 归一化摩擦轮转速 */ - float fric_avgrpm; /* 归一化摩擦轮平均转速*/ - float trig_rpm; /* 归一化拨弹电机转速*/ - + MOTOR_Feedback_t fric[MAX_FRIC_NUM];/* 摩擦轮电机反馈 */ + MOTOR_RM_t trig; /* 拨弹电机反馈 */ + }Shoot_Feedback_t; typedef struct{ - float time_last_shoot; - uint16_t num_to_shoot; - uint16_t num_shooted; -}Shoot_AngleCalu_t; + float fil_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮原始转速 */ + float normalized_fil_rpm[MAX_FRIC_NUM]; /* 归一化摩擦轮转速 */ + float normalized_fil_avgrpm[MAX_NUM_MULTILEVEL]; /* 归一化摩擦轮平均转速 */ + float coupled_control_weights; /* 耦合控制权重 */ +}Shoot_VARSForFricCtrl_t; + +typedef struct{ + float time_lastShoot;/* 上次射击时间 */ + uint16_t num_toShoot;/* 剩余待发射弹数 */ + uint16_t num_shooted;/* 已发射弹数 */ + + float trig_agl; /*计算所有减速比后的拨弹盘的角度*/ + float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ + float trig_rpm; /* 归一化拨弹电机转速 */ +}Shoot_VARSForTrigCtrl_t; typedef struct { - bool jam_detected; /* 卡弹检测结果 */ - float jam_last_time;/* 用于记录怀疑状态或处理状态的开始时间 */ - Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */ + bool detected; /* 卡弹检测结果 */ + float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */ + Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */ }Shoot_JamDetection_t; typedef struct { - float *out_follow; - float *out_err; - float *out_fric; - float *lpfout_fric; + float out_follow[MAX_FRIC_NUM]; + float out_err[MAX_FRIC_NUM]; + float out_fric[MAX_FRIC_NUM]; + float lpfout_fric[MAX_FRIC_NUM]; - float outagl_trig; float outomg_trig; float outlpf_trig; }Shoot_Output_t; - +typedef struct { + Shoot_Mode_t mode;/* 射击模式 */ + bool ready; /* 准备射击 */ + bool firecmd; /* 射击 */ +}Shoot_CMD_t; /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ typedef struct { - Shoot_Projectile_t proj; - size_t fric_num; /* 摩擦轮数量 */ - - float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/ - size_t num_trig_tooth; /* 拨弹盘每圈弹丸数量 */ - float shot_freq; /* 射击频率，单位Hz */ - size_t shot_burst_num; /* 多发模式一次射击的数量 */ - - size_t num_multilevel; /* 多级发射级数 (默认每级摩擦轮的数量相等)*/ - float *ratio_multilevel; /* 多级发射各级速度比例 */ - - bool jam_enable; /* 是否启用卡弹检测 */ //还没加到逻辑里 - float jam_threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/ - float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */ - - Shoot_MOTOR_RM_Param_t *fric_motor_param; - MOTOR_RM_Param_t trig_motor_param; - - - KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */ - KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */ - KPID_Params_t trig_2006; /* 拨弹电机PID控制参数 */ - KPID_Params_t trig_omg_2006; /* 拨弹电机PID控制参数 */ - KPID_Params_t trig_3508; /* 拨弹电机PID控制参数 */ - KPID_Params_t trig_omg_3508; /* 拨弹电机PID控制参数 */ - /* 低通滤波器截止频率 */ + struct{ + Shoot_Projectile_t projectileType; /* 发射弹丸类型 */; + size_t fric_num; /* 摩擦轮电机数量 */ + float ratio_multilevel[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */ + float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/ + size_t num_trig_tooth; /* 拨弹盘每圈弹丸数量 */ + float shot_freq; /* 射击频率，单位Hz */ + size_t shot_burst_num; /* 多发模式一次射击的数量 */ + }basic;/* 发射基础参数 */ + struct { + bool enable; /* 是否启用卡弹检测 */ + float threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/ + float suspectedTime;/* 卡弹怀疑时间，单位秒 */ + }jamDetection;/* 卡弹检测参数 */ + struct { + Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM]; + MOTOR_RM_Param_t trig; + }motor; /* 电机参数 */ + struct{ + KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */ + KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */ + KPID_Params_t trig_2006; /* 拨弹电机PID控制参数 */ + KPID_Params_t trig_omg_2006;/* 拨弹电机PID控制参数 */ + KPID_Params_t trig_3508; /* 拨弹电机PID控制参数 */ + KPID_Params_t trig_omg_3508;/* 拨弹电机PID控制参数 */ + }pid; /* PID参数 */ struct { struct{ - float in; /* 反馈值滤波器 */ - float out; /* 输出值滤波器 */ + float in; /* 反馈值滤波器截止频率 */ + float out; /* 输出值滤波器截止频率 */ }fric; struct{ - float in; /* 反馈值滤波器 */ - float out; /* 输出值滤波器 */ + float in; /* 反馈值滤波器截止频率 */ + float out; /* 输出值滤波器截止频率 */ }trig; - } filter; + } filter;/* 滤波器截止频率参数 */ } Shoot_Params_t; +typedef struct { + float now; /* 当前时间，单位秒 */ + uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */ + float dt; /* 两次唤醒间隔时间，单位秒 */ +}Shoot_Timer_t; + /* * 运行的主结构体，所有这个文件里的函数都在操作这个结构体 * 包含了初始化参数，中间变量，输出变量 */ typedef struct { - bool online; /*在线检测*/ - float now; /* 当前时间，单位秒 */ - uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */ - float dt; /* 两次唤醒间隔时间，单位秒 */ - Shoot_Params_t *param; /* 发射参数 */ + Shoot_Timer_t timer; /* 计时器 */ + Shoot_Params_t *param; /* 发射参数 */ /* 模块通用 */ - Shoot_Running_State_t running_state; /* 运行状态机 */ - Shoot_Mode_t mode; /* 射击模式 */ + Shoot_Mode_t mode; /* 射击模式 */ /* 反馈信息 */ - Shoot_Feedback_t feedback; /* 反馈信息 */ - /* 控制信息*/ - Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */ - Shoot_AngleCalu_t anglecalu; /* 角度计算控制信息 */ - Shoot_Output_t output; /* 输出信息 */ + Shoot_Feedback_t feedback; + /* 控制信息*/ + Shoot_Running_State_t running_state; /* 运行状态机 */ + Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */ + Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */ + Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */ + Shoot_Output_t output; /* 输出信息 */ /* 目标控制量 */ struct { - float target_rpm; /* 目标摩擦轮转速 */ - float target_angle; /* 目标拨弹位置 */ + float fric_rpm; /* 目标摩擦轮转速 */ + float trig_angle;/* 目标拨弹位置 */ }target_variable; /* 反馈控制用的PID */ struct { - KPID_t *fric_follow; /* 摩擦轮PID主结构体 */ - KPID_t *fric_err; /* 摩擦轮PID主结构体 */ - KPID_t trig; /* 拨弹PID主结构体 */ - KPID_t trig_omg; /* 拨弹PID主结构体 */ + KPID_t fric_follow[MAX_FRIC_NUM];/* 摩擦轮PID主结构体 */ + KPID_t fric_err[MAX_FRIC_NUM]; /* 摩擦轮PID主结构体 */ + KPID_t trig; /* 拨弹PID主结构体 */ + KPID_t trig_omg; /* 拨弹PID主结构体 */ } pid; /* 滤波器 */ struct { struct{ - LowPassFilter2p_t *in; /* 反馈值滤波器 */ - LowPassFilter2p_t *out; /* 输出值滤波器 */ + LowPassFilter2p_t in[MAX_FRIC_NUM]; /* 反馈值滤波器 */ + LowPassFilter2p_t out[MAX_FRIC_NUM];/* 输出值滤波器 */ }fric; struct{ - LowPassFilter2p_t in; /* 反馈值滤波器 */ - LowPassFilter2p_t out; /* 输出值滤波器 */ + LowPassFilter2p_t in; /* 反馈值滤波器 */ + LowPassFilter2p_t out;/* 输出值滤波器 */ }trig; } filter; @@ -220,7 +221,7 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode); * * \return 函数运行结果 */ -int8_t Chassis_UpdateFeedback(Shoot_t *s); +int8_t Shoot_UpdateFeedback(Shoot_t *s); /** * \brief 初始化发射 diff --git a/User/task/shoot_ctrl.c b/User/task/shoot_ctrl.c index df4033e..acb3ace 100644 --- a/User/task/shoot_ctrl.c +++ b/User/task/shoot_ctrl.c @@ -36,7 +36,6 @@ void Task_shoot_ctrl(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ - Config_ShootInit(); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); /* USER CODE INIT END */ @@ -53,9 +52,8 @@ void Task_shoot_ctrl(void *argument) { // shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd; shoot.mode=s_mode.S_Mode; // shoot_cmd.mode=true; - shoot.target_variable.target_rpm=4000; - Chassis_UpdateFeedback(&shoot); + Shoot_UpdateFeedback(&shoot); Shoot_Control(&shoot,&shoot_cmd); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */