From 1bc32786578938904994385f21e3d4fa08cfadf1 Mon Sep 17 00:00:00 2001 From: LSMushui Date: Sat, 14 Mar 2026 13:35:04 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BC=80=E5=90=AFpitch=E8=BD=B4=E6=8E=A7?= =?UTF-8?q?=E5=88=B6=EF=BC=8C=E7=AD=89=E5=BE=85=E7=BB=B4=E4=BF=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 云台/云台/.vscode/c_cpp_properties.json | 25 +- 云台/云台/.vscode/keil-assistant.log | 2 + 云台/云台/CarBody/Gimbal.c | 2 +- 云台/云台/Objects/Project.axf | Bin 721572 -> 723504 bytes 云台/云台/Objects/Project.build_log.htm | 84 +- 云台/云台/Objects/Project.htm | 1009 ++++++++++++----------- 云台/云台/Objects/Project_Target 1.dep | 12 +- 云台/云台/Objects/ctoc.crf | Bin 448497 -> 448497 bytes 云台/云台/Objects/gimbal.crf | Bin 462181 -> 462186 bytes 云台/云台/Objects/main.crf | Bin 468674 -> 468678 bytes 云台/云台/Project.uvguix.LSMushui | 104 ++- 云台/云台/Project.uvoptx | 8 +- 云台/云台/User/Parameter.h | 4 +- 云台/云台/User/main.c | 2 +- 底盘/底盘/Objects/Project.axf | Bin 599836 -> 599836 bytes 底盘/底盘/Objects/Project.build_log.htm | 64 +- 底盘/底盘/Objects/Project.htm | 2 +- 底盘/底盘/Objects/Project_Target 1.dep | 10 +- 底盘/底盘/Objects/main.crf | Bin 462138 -> 462138 bytes 底盘/底盘/Objects/mecanum.crf | Bin 466133 -> 466133 bytes 底盘/底盘/Project.uvguix.LSMushui | 108 ++- 底盘/底盘/Project.uvoptx | 10 +- 底盘/底盘/User/main.c | 1 + 23 files changed, 774 insertions(+), 673 deletions(-) diff --git a/云台/云台/.vscode/c_cpp_properties.json b/云台/云台/.vscode/c_cpp_properties.json index 5f9c566..e7ca358 100644 --- a/云台/云台/.vscode/c_cpp_properties.json +++ b/云台/云台/.vscode/c_cpp_properties.json @@ -104,19 +104,18 @@ { "name": "Target 1", "includePath": [ - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Start", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Library", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\System", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Algorithm", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\AHRS", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Hardware", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Motor", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Function", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Control", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\CarBody", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\User", - "C:\\Keil_v5\\ARM\\ARMCC\\include", - "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Carbody" + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Start", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Library", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\System", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Algorithm", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\AHRS", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Hardware", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Motor", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Function", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Control", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\CarBody", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\User", + "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Carbody" ], "defines": [ "USE_STDPERIPH_DRIVER", diff --git a/云台/云台/.vscode/keil-assistant.log b/云台/云台/.vscode/keil-assistant.log index f66790c..9788ae9 100644 --- a/云台/云台/.vscode/keil-assistant.log +++ b/云台/云台/.vscode/keil-assistant.log @@ -66,3 +66,5 @@ [info] Log at : 2025/3/26|23:03:09|GMT+0800 +[info] Log at : 2026/1/12|17:16:15|GMT+0800 + diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c index c441eaf..de0270b 100644 --- a/云台/云台/CarBody/Gimbal.c +++ b/云台/云台/CarBody/Gimbal.c @@ -277,7 +277,7 @@ void Gimbal_Rammer(void) */ void Gimbal_MoveControl(void) { - //Gimbal_PitchControl();//云台Pitch轴控制 + Gimbal_PitchControl();//云台Pitch轴控制 Gimbal_YawControl();//云台Yaw轴控制 Gimbal_FiringMechanismControl();//摩擦轮控制 diff --git a/云台/云台/Objects/Project.axf b/云台/云台/Objects/Project.axf index 482cdd9ae3cd5b525d032fbae02253a283ad9981..7b414baee2f0a84fbc984a0e0ce0265529c3c96a 100644 GIT binary patch delta 45634 zcmZr(3s_af+FmojcJD0`3IYP+1`!ca@sg6F0vdwi9Tm+4R1_4&3o053cGSqsw55Jl zre;=F9#gTfj+U8qtgM3_Pf>@A%*sj)Jth~q{O`B+9@zM|pJ!O}ez&=s&87)0T=UfK)2`m9*LT)ktPo~FnXP1XMI>4|Mdn@tUgMVdLQNPn))T5(kGWbQ9WA8Rfd z{6xd4Yw}6YQ=V`2x-OqQawB$A)s1wxEbEaQiB`9&`x@`%+v(GrN(NhAmolwU|GDij zIk`y>a}SZL8}-rd>w{wIV}o4}HdVh}hvM8Sw#uz8TeVQ%*IW;ps(x(JuetB?yT3`; zihj|wE^mq8VprFyo;6((U90vq=)2p6cK)+L1bYEK)F49IC$xueb;J1E`_f&i{G0ss zZPPmjxl~UJ@qcpzWNMLZ&}u$FYyeN8yfU2o<4GQgZ_$VsGQfJpZD~Wb87XUJ#8|v zp~T!?3e(5+u2t8XN<2G+$-;j%iSXJBBddx;mqeGUi%r`5GPpB*9~yKm*dP8+Ko!Bh z@SQNI9pO7^NOpklutV}b_>UWs?cjUKpjzR3)u5T-d)AQj9tm>;VZ 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zn@;%$*42Jp!!}t(k-YKh3?uNR>CQV~^ZOsUwtvdT?YB-kf zjn7*5w&V5@Mp{hnOvjV03*xu$Wp+BwAkr<`8T(|UMNP?BtBJ(%W_`3R}jopSoftware Packages used: diff --git a/云台/云台/Objects/Project.htm b/云台/云台/Objects/Project.htm index ea823f2..7011c8d 100644 --- a/云台/云台/Objects/Project.htm +++ b/云台/云台/Objects/Project.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\Objects\Project.axf]

Static Call Graph for image .\Objects\Project.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Mon Nov 03 12:34:10 2025 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sat Mar 14 13:25:17 2026

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

Call chain for Maximum Stack Depth:

@@ -121,7 +121,7 @@ Global Symbols

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

  • startup_stm32f40_41xxx.o(.text)
-

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

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

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

[Calls]

  • >>   __scatterload @@ -131,17 +131,17 @@ Global Symbols

    [Called By]
    • >>   __scatterload
    -

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

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

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

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

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

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

    __rt_lib_shutdown_fini (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E)) +

    __rt_lib_shutdown_fini (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E)) -

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

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

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011)) +

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))

    Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f40_41xxx.o(RESET) @@ -368,9 +368,9 @@ Global Symbols
    • >>   __aeabi_memclr
    -

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

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

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

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

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

    [Calls]

    • >>   __aeabi_memset @@ -380,7 +380,7 @@ Global Symbols

      [Called By]
      • >>   AHRS_update
      -

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

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

      _memset$wrapper (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)

      [Calls]

      • >>   __aeabi_memset @@ -405,10 +405,14 @@ Global Symbols
      • >>   M2006_CANDataProcess
      -

      __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) +

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

      [Called By]

      • >>   Visual_SendData +
      -

      __aeabi_uidivmod (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) -

      [Called By]

      • >>   _printf_core +

        __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) + +

        __aeabi_uidivmod (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) +

        [Called By]

        • >>   _printf_core

        __aeabi_uldivmod (Thumb, 98 bytes, Stack size 40 bytes, uldiv.o(.text)) @@ -417,8 +421,8 @@ Global Symbols
        [Calls]

        • >>   __aeabi_llsr
        • >>   __aeabi_llsl
        -
        [Called By]
        • >>   _printf_core -
        • >>   _fp_digits +
          [Called By]
          • >>   _printf_core +
          • >>   _fp_digits
          • >>   __aeabi_ldivmod
          @@ -430,11 +434,11 @@ Global Symbols
        • >>   __aeabi_d2ulz
        -

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

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

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

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

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

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

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

        [Stack]

        • Max Depth = 4
        • Call Chain = _float_epilogue @@ -450,7 +454,7 @@ Global Symbols

        [Called By]
        • >>   __aeabi_drsub
        • >>   __aeabi_dsub -
        • >>   _fp_digits +
        • >>   _fp_digits

        __aeabi_dsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED) @@ -464,24 +468,24 @@ Global Symbols

        __aeabi_dmul (Thumb, 228 bytes, Stack size 48 bytes, dmul.o(.text), UNUSED)

        [Calls]

        • >>   _double_epilogue
        -
        [Called By]
        • >>   _fp_digits +
          [Called By]
          • >>   _fp_digits

          __aeabi_ddiv (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text), UNUSED)

          [Calls]

          • >>   _double_round
          -
          [Called By]
          • >>   _fp_digits +
            [Called By]
            • >>   _fp_digits

            __aeabi_d2ulz (Thumb, 48 bytes, Stack size 0 bytes, dfixul.o(.text), UNUSED)

            [Calls]

            • >>   __aeabi_llsr
            • >>   __aeabi_llsl
            -
            [Called By]
            • >>   _fp_digits +
              [Called By]
              • >>   _fp_digits
              -

              __aeabi_cdrcmple (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED) -

              [Called By]

              • >>   _fp_digits +

                __aeabi_cdrcmple (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED) +

                [Called By]

                • >>   _fp_digits

                __scatterload (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text)) @@ -490,7 +494,7 @@ Global Symbols
                [Called By]

                • >>   _main_scatterload
                -

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

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

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

                [Called By]

                • >>   _double_epilogue @@ -498,13 +502,13 @@ Global Symbols
                • >>   __aeabi_d2ulz
                -

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

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

                __aeabi_lasr (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

                [Called By]

                • >>   __aeabi_dadd
                -

                _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED) +

                _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

                _double_round (Thumb, 30 bytes, Stack size 8 bytes, depilogue.o(.text), UNUSED)

                [Called By]

                • >>   _double_epilogue @@ -521,16 +525,16 @@ Global Symbols
                • >>   __aeabi_dadd
                -

                __decompress (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) +

                __decompress (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) -

                __decompress1 (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) +

                __decompress1 (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)

                AHRS_asinf (Thumb, 24 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_asinf))

                [Stack]

                • Max Depth = 48
                • Call Chain = AHRS_asinf ⇒ __hardfp_asinf ⇒ sqrtf

                [Calls]
                • >>   __hardfp_asinf
                -
                [Called By]
                • >>   get_angle +
                  [Called By]
                  • >>   get_angle
                  • >>   AHRS_init
                  @@ -539,7 +543,7 @@ Global Symbols

                [Calls]
                • >>   __hardfp_atan2f
                -
                [Called By]
                • >>   get_angle +
                  [Called By]
                  • >>   get_angle
                  • >>   AHRS_init
                  @@ -582,7 +586,7 @@ Global Symbols

                [Called By]
                • >>   AHRS_init
                • >>   quat_normalization -
                • >>   accel_update_kp_ki +
                • >>   accel_update_kp_ki
                • >>   accel_comple_filter
                @@ -754,7 +758,7 @@ Global Symbols
              • >>   TIM_InternalClockConfig
              • >>   TIM_Cmd
              -
              [Called By]
              • >>   Warming_Init +
                [Called By]
                • >>   Warming_Init

                Buzzer_ON (Thumb, 50 bytes, Stack size 8 bytes, buzzer.o(i.Buzzer_ON)) @@ -765,7 +769,7 @@ Global Symbols

              • >>   TIM_Cmd

              [Called By]
              • >>   Warming_BuzzerClean -
              • >>   Warming_LinkError +
              • >>   Warming_LinkError

              CAN1_RX0_IRQHandler (Thumb, 320 bytes, Stack size 16 bytes, can.o(i.CAN1_RX0_IRQHandler)) @@ -855,7 +859,7 @@ Global Symbols

            • >>   RCC_APB1PeriphClockCmd
            • >>   RCC_AHB1PeriphClockCmd
            -
            [Called By]
            • >>   LinkCheck_Init +
              [Called By]
              • >>   LinkCheck_Init

              CAN_CAN_GetRefereeSystemData (Thumb, 24 bytes, Stack size 4 bytes, can.o(i.CAN_CAN_GetRefereeSystemData)) @@ -914,7 +918,7 @@ Global Symbols


            [Called By]
            • >>   CToC_MasterSendData
            • >>   CToC_MasterSendControl -
            • >>   M2006_CANSetHIDCurrent +
            • >>   M2006_CANSetHIDCurrent
            • >>   GM6020_CAN2SetLIDVoltage
            • >>   M3508_CANSetLIDCurrent
            @@ -924,7 +928,7 @@ Global Symbols

          [Called By]
          • >>   CToC_MasterSendData
          • >>   CToC_MasterSendControl -
          • >>   M2006_CANSetHIDCurrent +
          • >>   M2006_CANSetHIDCurrent
          • >>   GM6020_CAN2SetLIDVoltage
          • >>   M3508_CANSetLIDCurrent
          @@ -984,7 +988,7 @@ Global Symbols

        DMA_ClearFlag (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_ClearFlag))

        [Called By]

        • >>   BMI088_CheckAndCloseDMA -
        • >>   Remote_TransferReset +
        • >>   Remote_TransferReset

        DMA_ClearITPendingBit (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_ClearITPendingBit)) @@ -997,36 +1001,36 @@ Global Symbols

      • >>   BMI088_OpenDMA
      • >>   BMI088_Init
      • >>   BMI088_CheckAndCloseDMA -
      • >>   Remote_TransferReset -
      • >>   Remote_Init +
      • >>   Remote_TransferReset +
      • >>   Remote_Init
      -

      DMA_DoubleBufferModeCmd (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_DoubleBufferModeCmd)) -

      [Called By]

      • >>   Remote_Init +

        DMA_DoubleBufferModeCmd (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_DoubleBufferModeCmd)) +

        [Called By]

        • >>   Remote_Init
        -

        DMA_DoubleBufferModeConfig (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_DoubleBufferModeConfig)) -

        [Called By]

        • >>   Remote_Init +

          DMA_DoubleBufferModeConfig (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_DoubleBufferModeConfig)) +

          [Called By]

          • >>   Remote_Init

          DMA_GetCmdStatus (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_GetCmdStatus))

          [Called By]

          • >>   BMI088_OpenDMA -
          • >>   Remote_TransferReset +
          • >>   Remote_TransferReset
          -

          DMA_GetCurrDataCounter (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_GetCurrDataCounter)) +

          DMA_GetCurrDataCounter (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_GetCurrDataCounter))

          [Called By]

          • >>   USART3_IRQHandler
          -

          DMA_GetCurrentMemoryTarget (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_GetCurrentMemoryTarget)) -

          [Called By]

          • >>   Remote_DataProcess +

            DMA_GetCurrentMemoryTarget (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_GetCurrentMemoryTarget)) +

            [Called By]

            • >>   Remote_DataProcess

            DMA_GetFlagStatus (Thumb, 54 bytes, Stack size 12 bytes, stm32f4xx_dma.o(i.DMA_GetFlagStatus))

            [Stack]

            • Max Depth = 12
            • Call Chain = DMA_GetFlagStatus

            [Called By]
            • >>   BMI088_CheckAndCloseDMA -
            • >>   Remote_TransferReset +
            • >>   Remote_TransferReset

            DMA_GetITStatus (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_dma.o(i.DMA_GetITStatus)) @@ -1045,12 +1049,12 @@ Global Symbols

            [Stack]

            • Max Depth = 8
            • Call Chain = DMA_Init

            [Called By]
            • >>   BMI088_Init -
            • >>   Remote_Init +
            • >>   Remote_Init

            DMA_SetCurrDataCounter (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_dma.o(i.DMA_SetCurrDataCounter))

            [Called By]

            • >>   BMI088_OpenDMA -
            • >>   Remote_TransferReset +
            • >>   Remote_TransferReset

            DebugMon_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.DebugMon_Handler)) @@ -1135,8 +1139,8 @@ Global Symbols
            [Calls]

            • >>   CAN_TransmitStatus
            • >>   CAN_Transmit
            -
            [Called By]
            • >>   Gimbal_YawControl -
            • >>   Warming_MotorControl +
              [Called By]
              • >>   Gimbal_YawControl +
              • >>   Warming_MotorControl

              GM6020_CANDataProcess (Thumb, 352 bytes, Stack size 20 bytes, gm6020.o(i.GM6020_CANDataProcess)) @@ -1152,48 +1156,48 @@ Global Symbols
              [Called By]

              • >>   Laser_Init
              • >>   IST8310_Init
              • >>   BMI088_Init -
              • >>   Remote_Init +
              • >>   Remote_Init
              • >>   Buzzer_Init -
              • >>   LED_Init +
              • >>   LED_Init
              • >>   CAN_CANInit -
              • >>   MyI2C_Init -
              • >>   UART2_Init -
              • >>   UART1_Init +
              • >>   MyI2C_Init +
              • >>   UART2_Init +
              • >>   UART1_Init

              GPIO_PinAFConfig (Thumb, 70 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_PinAFConfig))

              [Stack]

              • Max Depth = 20
              • Call Chain = GPIO_PinAFConfig

              [Called By]
              • >>   BMI088_Init -
              • >>   Remote_Init +
              • >>   Remote_Init
              • >>   Buzzer_Init
              • >>   CAN_CANInit -
              • >>   UART2_Init -
              • >>   UART1_Init +
              • >>   UART2_Init +
              • >>   UART1_Init
              -

              GPIO_ReadInputDataBit (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ReadInputDataBit)) -

              [Called By]

              • >>   MyI2C_Read_SDA +

                GPIO_ReadInputDataBit (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ReadInputDataBit)) +

                [Called By]

                • >>   MyI2C_Read_SDA
                -

                GPIO_ResetBits (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ResetBits)) +

                GPIO_ResetBits (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ResetBits))

                [Called By]

                • >>   Laser_OFF
                • >>   Laser_Init -
                • >>   LED_ROFF -
                • >>   LED_Init -
                • >>   LED_GOFF -
                • >>   LED_BOFF +
                • >>   LED_ROFF +
                • >>   LED_Init +
                • >>   LED_GOFF +
                • >>   LED_BOFF
                -

                GPIO_SetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_SetBits)) +

                GPIO_SetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_SetBits))

                [Called By]

                • >>   Laser_ON -
                • >>   LED_RON -
                • >>   LED_GON -
                • >>   LED_BON +
                • >>   LED_RON +
                • >>   LED_GON +
                • >>   LED_BON

                GPIO_WriteBit (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_WriteBit)) -

                [Called By]

                • >>   IST8310_RSTN +

                  [Called By]
                  • >>   IST8310_RSTN
                  • >>   EXTI9_5_IRQHandler
                  • >>   EXTI4_IRQHandler
                  • >>   DMA2_Stream2_IRQHandler @@ -1202,8 +1206,8 @@ Global Symbols
                  • >>   BMI088_SPI_AccelWriteRegister
                  • >>   BMI088_SPI_AccelReadRegister
                  • >>   BMI088_Init -
                  • >>   MyI2C_SDA -
                  • >>   MyI2C_SCL +
                  • >>   MyI2C_SDA +
                  • >>   MyI2C_SCL

                  Gimbal_CleanPID (Thumb, 58 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_CleanPID)) @@ -1237,26 +1241,36 @@ Global Symbols
                  [Called By]

                  • >>   CloseLoopControl_Init
                  -

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

                  Gimbal_MoveControl (Thumb, 20 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_MoveControl))

                  [Stack]

                  • Max Depth = 72
                  • Call Chain = Gimbal_MoveControl ⇒ Gimbal_YawControl ⇒ GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus
                  -
                  [Calls]
                  • >>   Gimbal_YawControl -
                  • >>   Gimbal_Rammer +
                    [Calls]
                    • >>   Gimbal_YawControl +
                    • >>   Gimbal_Rammer +
                    • >>   Gimbal_PitchControl
                    • >>   Gimbal_FiringMechanismControl

                    [Called By]
                    • >>   TIM6_DAC_IRQHandler
                    -

                    Gimbal_Rammer (Thumb, 176 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer)) -

                    [Stack]

                    • Max Depth = 64
                    • Call Chain = Gimbal_Rammer ⇒ M2006_CANSetHIDCurrent ⇒ CAN_TransmitStatus +

                      Gimbal_PitchControl (Thumb, 448 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_PitchControl)) +

                      [Stack]

                      • Max Depth = 8
                      • Call Chain = Gimbal_PitchControl

                      [Calls]
                      • >>   PID_PositionCalc -
                      • >>   M2006_CANSetHIDCurrent +
                      • >>   kalmanFilter

                      [Called By]
                      • >>   Gimbal_MoveControl
                      -

                      Gimbal_YawControl (Thumb, 426 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_YawControl)) +

                      Gimbal_Rammer (Thumb, 176 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer)) +

                      [Stack]

                      • Max Depth = 64
                      • Call Chain = Gimbal_Rammer ⇒ M2006_CANSetHIDCurrent ⇒ CAN_TransmitStatus +
                      +
                      [Calls]
                      • >>   PID_PositionCalc +
                      • >>   M2006_CANSetHIDCurrent +
                      +
                      [Called By]
                      • >>   Gimbal_MoveControl +
                      + +

                      Gimbal_YawControl (Thumb, 426 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_YawControl))

                      [Stack]

                      • Max Depth = 64
                      • Call Chain = Gimbal_YawControl ⇒ GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus

                      [Calls]
                      • >>   PID_PositionCalc @@ -1279,25 +1293,25 @@ Global Symbols
                        [Called By]
                        • >>   CloseLoopControl_Init
                        -

                        IMUTemperatureControl_TemperatureControl (Thumb, 80 bytes, Stack size 8 bytes, imutemperaturecontrol.o(i.IMUTemperatureControl_TemperatureControl)) +

                        IMUTemperatureControl_TemperatureControl (Thumb, 80 bytes, Stack size 8 bytes, imutemperaturecontrol.o(i.IMUTemperatureControl_TemperatureControl))

                        [Stack]

                        • Max Depth = 24
                        • Call Chain = IMUTemperatureControl_TemperatureControl ⇒ Warming_IMUTemperatureTooHigh ⇒ LED_GON
                        -
                        [Calls]
                        • >>   TIM_SetCompare1 +
                          [Calls]
                          • >>   TIM_SetCompare1
                          • >>   PID_PositionCalc -
                          • >>   Warming_IMUTemperatureTooHigh +
                          • >>   Warming_IMUTemperatureTooHigh

                          [Called By]
                          • >>   TIM6_DAC_IRQHandler
                          -

                          IST8310_Delay_us (Thumb, 68 bytes, Stack size 0 bytes, ist8310.o(i.IST8310_Delay_us)) -

                          [Called By]

                          • >>   IST8310_RSTN +

                            IST8310_Delay_us (Thumb, 68 bytes, Stack size 0 bytes, ist8310.o(i.IST8310_Delay_us)) +

                            [Called By]

                            • >>   IST8310_RSTN

                            IST8310_GetData (Thumb, 218 bytes, Stack size 24 bytes, ist8310.o(i.IST8310_GetData))

                            [Stack]

                            • Max Depth = 88
                            • Call Chain = IST8310_GetData ⇒ MyI2C_ContinuousReadRegister ⇒ MyI2C_SendAck ⇒ MyI2C_SDA
                            -
                            [Calls]
                            • >>   MyI2C_ReadRegister -
                            • >>   MyI2C_ContinuousReadRegister +
                              [Calls]
                              • >>   MyI2C_ReadRegister +
                              • >>   MyI2C_ContinuousReadRegister

                              [Called By]
                              • >>   EXTI3_IRQHandler
                              @@ -1312,134 +1326,134 @@ Global Symbols
                            • >>   RCC_APB2PeriphClockCmd
                            • >>   RCC_AHB1PeriphClockCmd
                            • >>   SYSCFG_EXTILineConfig -
                            • >>   Warming_IST8310LinkError -
                            • >>   IST8310_Reset -
                            • >>   MyI2C_WriteRegister -
                            • >>   MyI2C_Init -
                            • >>   MyI2C_CheckWhoAmI -
                            • >>   MyI2C_CheckDevice +
                            • >>   Warming_IST8310LinkError +
                            • >>   IST8310_Reset +
                            • >>   MyI2C_WriteRegister +
                            • >>   MyI2C_Init +
                            • >>   MyI2C_CheckWhoAmI +
                            • >>   MyI2C_CheckDevice
                            • >>   Delay_ms

                            [Called By]
                            • >>   AttitudeAlgorithms_Init
                            -

                            IST8310_RSTN (Thumb, 20 bytes, Stack size 8 bytes, ist8310.o(i.IST8310_RSTN)) +

                            IST8310_RSTN (Thumb, 20 bytes, Stack size 8 bytes, ist8310.o(i.IST8310_RSTN))

                            [Stack]

                            • Max Depth = 8
                            • Call Chain = IST8310_RSTN

                            [Calls]
                            • >>   GPIO_WriteBit -
                            • >>   IST8310_Delay_us +
                            • >>   IST8310_Delay_us
                            -
                            [Called By]
                            • >>   IST8310_Reset +
                              [Called By]
                              • >>   IST8310_Reset
                              -

                              IST8310_Reset (Thumb, 16 bytes, Stack size 8 bytes, ist8310.o(i.IST8310_Reset)) +

                              IST8310_Reset (Thumb, 16 bytes, Stack size 8 bytes, ist8310.o(i.IST8310_Reset))

                              [Stack]

                              • Max Depth = 16
                              • Call Chain = IST8310_Reset ⇒ IST8310_RSTN
                              -
                              [Calls]
                              • >>   IST8310_RSTN +
                                [Calls]
                                • >>   IST8310_RSTN

                                [Called By]
                                • >>   IST8310_Init
                                -

                                IWDG_Enable (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_Enable)) -

                                [Called By]

                                • >>   Remote_Init +

                                  IWDG_Enable (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_Enable)) +

                                  [Called By]

                                  • >>   Remote_Init
                                  -

                                  IWDG_ReloadCounter (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_ReloadCounter)) +

                                  IWDG_ReloadCounter (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_ReloadCounter))

                                  [Called By]

                                  • >>   main
                                  -

                                  IWDG_SetPrescaler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_SetPrescaler)) -

                                  [Called By]

                                  • >>   Remote_Init +

                                    IWDG_SetPrescaler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_SetPrescaler)) +

                                    [Called By]

                                    • >>   Remote_Init
                                    -

                                    IWDG_SetReload (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_SetReload)) -

                                    [Called By]

                                    • >>   Remote_Init +

                                      IWDG_SetReload (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_SetReload)) +

                                      [Called By]

                                      • >>   Remote_Init
                                      -

                                      IWDG_WriteAccessCmd (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_WriteAccessCmd)) -

                                      [Called By]

                                      • >>   Remote_Init +

                                        IWDG_WriteAccessCmd (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_WriteAccessCmd)) +

                                        [Called By]

                                        • >>   Remote_Init
                                        -

                                        Keyboard_DataProcess (Thumb, 308 bytes, Stack size 0 bytes, keyboard.o(i.Keyboard_DataProcess)) +

                                        Keyboard_DataProcess (Thumb, 308 bytes, Stack size 0 bytes, keyboard.o(i.Keyboard_DataProcess))

                                        [Called By]

                                        • >>   USART6_IRQHandler
                                        -

                                        Keyboard_Init (Thumb, 8 bytes, Stack size 8 bytes, keyboard.o(i.Keyboard_Init)) +

                                        Keyboard_Init (Thumb, 8 bytes, Stack size 8 bytes, keyboard.o(i.Keyboard_Init))

                                        [Stack]

                                        • Max Depth = 108
                                        • Call Chain = Keyboard_Init ⇒ UART1_Init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                        -
                                        [Calls]
                                        • >>   UART1_Init +
                                          [Calls]
                                          • >>   UART1_Init
                                          -
                                          [Called By]
                                          • >>   RefereeSystem_Init +
                                            [Called By]
                                            • >>   RefereeSystem_Init
                                            -

                                            LED_BOFF (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_BOFF)) +

                                            LED_BOFF (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_BOFF))

                                            [Stack]

                                            • Max Depth = 8
                                            • Call Chain = LED_BOFF
                                            -
                                            [Calls]
                                            • >>   GPIO_ResetBits +
                                              [Calls]
                                              • >>   GPIO_ResetBits
                                              -
                                              [Called By]
                                              • >>   Warming_LEDClean +
                                                [Called By]
                                                • >>   Warming_LEDClean
                                                -

                                                LED_BON (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_BON)) +

                                                LED_BON (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_BON))

                                                [Stack]

                                                • Max Depth = 8
                                                • Call Chain = LED_BON
                                                -
                                                [Calls]
                                                • >>   GPIO_SetBits +
                                                  [Calls]
                                                  • >>   GPIO_SetBits

                                                  [Called By]
                                                  • >>   main
                                                  -

                                                  LED_GOFF (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_GOFF)) +

                                                  LED_GOFF (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_GOFF))

                                                  [Stack]

                                                  • Max Depth = 8
                                                  • Call Chain = LED_GOFF
                                                  -
                                                  [Calls]
                                                  • >>   GPIO_ResetBits +
                                                    [Calls]
                                                    • >>   GPIO_ResetBits
                                                    -
                                                    [Called By]
                                                    • >>   Warming_IST8310LinkError +
                                                      [Called By]
                                                      • >>   Warming_IST8310LinkError
                                                      • >>   Warming_BMI088LinkError -
                                                      • >>   Warming_LEDClean +
                                                      • >>   Warming_LEDClean
                                                      -

                                                      LED_GON (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_GON)) +

                                                      LED_GON (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_GON))

                                                      [Stack]

                                                      • Max Depth = 8
                                                      • Call Chain = LED_GON
                                                      -
                                                      [Calls]
                                                      • >>   GPIO_SetBits +
                                                        [Calls]
                                                        • >>   GPIO_SetBits
                                                        -
                                                        [Called By]
                                                        • >>   Warming_IST8310LinkError +
                                                          [Called By]
                                                          • >>   Warming_IST8310LinkError
                                                          • >>   Warming_BMI088LinkError -
                                                          • >>   Warming_IMUTemperatureTooHigh +
                                                          • >>   Warming_IMUTemperatureTooHigh
                                                          -

                                                          LED_Init (Thumb, 80 bytes, Stack size 16 bytes, led.o(i.LED_Init)) +

                                                          LED_Init (Thumb, 80 bytes, Stack size 16 bytes, led.o(i.LED_Init))

                                                          [Stack]

                                                          • Max Depth = 36
                                                          • Call Chain = LED_Init ⇒ GPIO_Init
                                                          -
                                                          [Calls]
                                                          • >>   GPIO_ResetBits +
                                                            [Calls]
                                                            • >>   GPIO_ResetBits
                                                            • >>   GPIO_Init
                                                            • >>   RCC_AHB1PeriphClockCmd
                                                            -
                                                            [Called By]
                                                            • >>   Warming_Init +
                                                              [Called By]
                                                              • >>   Warming_Init
                                                              -

                                                              LED_ROFF (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_ROFF)) +

                                                              LED_ROFF (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_ROFF))

                                                              [Stack]

                                                              • Max Depth = 8
                                                              • Call Chain = LED_ROFF
                                                              -
                                                              [Calls]
                                                              • >>   GPIO_ResetBits +
                                                                [Calls]
                                                                • >>   GPIO_ResetBits
                                                                -
                                                                [Called By]
                                                                • >>   Warming_RemoteNoCheck -
                                                                • >>   Warming_LEDClean +
                                                                  [Called By]
                                                                  • >>   Warming_RemoteNoCheck +
                                                                  • >>   Warming_LEDClean
                                                                  -

                                                                  LED_RON (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_RON)) +

                                                                  LED_RON (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_RON))

                                                                  [Stack]

                                                                  • Max Depth = 8
                                                                  • Call Chain = LED_RON
                                                                  -
                                                                  [Calls]
                                                                  • >>   GPIO_SetBits +
                                                                    [Calls]
                                                                    • >>   GPIO_SetBits
                                                                    -
                                                                    [Called By]
                                                                    • >>   Warming_RemoteNoCheck -
                                                                    • >>   Warming_RemoteDataERROR +
                                                                      [Called By]
                                                                      • >>   Warming_RemoteNoCheck +
                                                                      • >>   Warming_RemoteDataERROR

                                                                      Laser_Init (Thumb, 58 bytes, Stack size 16 bytes, laser.o(i.Laser_Init))

                                                                      [Stack]

                                                                      • Max Depth = 36
                                                                      • Call Chain = Laser_Init ⇒ GPIO_Init
                                                                      -
                                                                      [Calls]
                                                                      • >>   GPIO_ResetBits +
                                                                        [Calls]
                                                                        • >>   GPIO_ResetBits
                                                                        • >>   GPIO_Init
                                                                        • >>   RCC_AHB1PeriphClockCmd
                                                                        @@ -1449,7 +1463,7 @@ Global Symbols

                                                                        Laser_OFF (Thumb, 14 bytes, Stack size 8 bytes, laser.o(i.Laser_OFF))

                                                                        [Stack]

                                                                        • Max Depth = 8
                                                                        • Call Chain = Laser_OFF
                                                                        -
                                                                        [Calls]
                                                                        • >>   GPIO_ResetBits +
                                                                          [Calls]
                                                                          • >>   GPIO_ResetBits

                                                                          [Called By]
                                                                          • >>   Gimbal_FiringMechanismControl
                                                                          @@ -1457,12 +1471,12 @@ Global Symbols

                                                                          Laser_ON (Thumb, 14 bytes, Stack size 8 bytes, laser.o(i.Laser_ON))

                                                                          [Stack]

                                                                          • Max Depth = 8
                                                                          • Call Chain = Laser_ON
                                                                          -
                                                                          [Calls]
                                                                          • >>   GPIO_SetBits +
                                                                            [Calls]
                                                                            • >>   GPIO_SetBits

                                                                            [Called By]
                                                                            • >>   Gimbal_FiringMechanismControl
                                                                            -

                                                                            LinkCheck_Init (Thumb, 120 bytes, Stack size 24 bytes, linkcheck.o(i.LinkCheck_Init)) +

                                                                            LinkCheck_Init (Thumb, 120 bytes, Stack size 24 bytes, linkcheck.o(i.LinkCheck_Init))

                                                                            [Stack]

                                                                            • Max Depth = 92
                                                                            • Call Chain = LinkCheck_Init ⇒ CAN_CANInit ⇒ GPIO_PinAFConfig

                                                                            [Calls]
                                                                            • >>   NVIC_PriorityGroupConfig @@ -1490,7 +1504,7 @@ Global Symbols

                                                                              LinkCheck_ON (Thumb, 20 bytes, Stack size 8 bytes, linkcheck.o(i.LinkCheck_ON))

                                                                              [Stack]

                                                                              • Max Depth = 8
                                                                              • Call Chain = LinkCheck_ON
                                                                              -
                                                                              [Calls]
                                                                              • >>   TIM_SetCounter +
                                                                                [Calls]
                                                                                • >>   TIM_SetCounter
                                                                                • >>   TIM_Cmd

                                                                                [Called By]
                                                                                • >>   CAN2_RX1_IRQHandler @@ -1507,14 +1521,14 @@ Global Symbols
                                                                                  [Called By]
                                                                                  • >>   CAN1_RX0_IRQHandler
                                                                                  -

                                                                                  M2006_CANSetHIDCurrent (Thumb, 146 bytes, Stack size 48 bytes, m2006.o(i.M2006_CANSetHIDCurrent)) +

                                                                                  M2006_CANSetHIDCurrent (Thumb, 146 bytes, Stack size 48 bytes, m2006.o(i.M2006_CANSetHIDCurrent))

                                                                                  [Stack]

                                                                                  • Max Depth = 56
                                                                                  • Call Chain = M2006_CANSetHIDCurrent ⇒ CAN_TransmitStatus

                                                                                  [Calls]
                                                                                  • >>   CAN_TransmitStatus
                                                                                  • >>   CAN_Transmit
                                                                                  -
                                                                                  [Called By]
                                                                                  • >>   Gimbal_Rammer -
                                                                                  • >>   Warming_MotorControl +
                                                                                    [Called By]
                                                                                    • >>   Gimbal_Rammer +
                                                                                    • >>   Warming_MotorControl

                                                                                    M3508_CANDataProcess (Thumb, 998 bytes, Stack size 24 bytes, m3508.o(i.M3508_CANDataProcess)) @@ -1534,202 +1548,202 @@ Global Symbols

                                                                                  • >>   CAN_Transmit

                                                                                  [Called By]
                                                                                  • >>   Gimbal_FiringMechanismControl -
                                                                                  • >>   Warming_MotorControl +
                                                                                  • >>   Warming_MotorControl

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

                                                                                  • startup_stm32f40_41xxx.o(RESET)
                                                                                  -

                                                                                  MyI2C_CheckDevice (Thumb, 40 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_CheckDevice)) +

                                                                                  MyI2C_CheckDevice (Thumb, 40 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_CheckDevice))

                                                                                  [Stack]

                                                                                  • Max Depth = 48
                                                                                  • Call Chain = MyI2C_CheckDevice ⇒ MyI2C_Send8bits ⇒ MyI2C_SDA
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   MyI2C_Stop -
                                                                                  • >>   MyI2C_Start -
                                                                                  • >>   MyI2C_Send8bits -
                                                                                  • >>   MyI2C_ReceiveAck +
                                                                                    [Calls]
                                                                                    • >>   MyI2C_Stop +
                                                                                    • >>   MyI2C_Start +
                                                                                    • >>   MyI2C_Send8bits +
                                                                                    • >>   MyI2C_ReceiveAck

                                                                                    [Called By]
                                                                                    • >>   IST8310_Init
                                                                                    -

                                                                                    MyI2C_CheckWhoAmI (Thumb, 118 bytes, Stack size 24 bytes, myi2c.o(i.MyI2C_CheckWhoAmI)) +

                                                                                    MyI2C_CheckWhoAmI (Thumb, 118 bytes, Stack size 24 bytes, myi2c.o(i.MyI2C_CheckWhoAmI))

                                                                                    [Stack]

                                                                                    • Max Depth = 56
                                                                                    • Call Chain = MyI2C_CheckWhoAmI ⇒ MyI2C_SendAck ⇒ MyI2C_SDA
                                                                                    -
                                                                                    [Calls]
                                                                                    • >>   MyI2C_Stop -
                                                                                    • >>   MyI2C_Start -
                                                                                    • >>   MyI2C_SendAck -
                                                                                    • >>   MyI2C_Send8bits -
                                                                                    • >>   MyI2C_ReceiveAck -
                                                                                    • >>   MyI2C_Receive8bits +
                                                                                      [Calls]
                                                                                      • >>   MyI2C_Stop +
                                                                                      • >>   MyI2C_Start +
                                                                                      • >>   MyI2C_SendAck +
                                                                                      • >>   MyI2C_Send8bits +
                                                                                      • >>   MyI2C_ReceiveAck +
                                                                                      • >>   MyI2C_Receive8bits

                                                                                      [Called By]
                                                                                      • >>   IST8310_Init
                                                                                      -

                                                                                      MyI2C_ContinuousReadRegister (Thumb, 158 bytes, Stack size 32 bytes, myi2c.o(i.MyI2C_ContinuousReadRegister)) +

                                                                                      MyI2C_ContinuousReadRegister (Thumb, 158 bytes, Stack size 32 bytes, myi2c.o(i.MyI2C_ContinuousReadRegister))

                                                                                      [Stack]

                                                                                      • Max Depth = 64
                                                                                      • Call Chain = MyI2C_ContinuousReadRegister ⇒ MyI2C_SendAck ⇒ MyI2C_SDA
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   MyI2C_Stop -
                                                                                      • >>   MyI2C_Start -
                                                                                      • >>   MyI2C_SendAck -
                                                                                      • >>   MyI2C_Send8bits -
                                                                                      • >>   MyI2C_ReceiveAck -
                                                                                      • >>   MyI2C_Receive8bits +
                                                                                        [Calls]
                                                                                        • >>   MyI2C_Stop +
                                                                                        • >>   MyI2C_Start +
                                                                                        • >>   MyI2C_SendAck +
                                                                                        • >>   MyI2C_Send8bits +
                                                                                        • >>   MyI2C_ReceiveAck +
                                                                                        • >>   MyI2C_Receive8bits

                                                                                        [Called By]
                                                                                        • >>   IST8310_GetData
                                                                                        -

                                                                                        MyI2C_Delay_us (Thumb, 70 bytes, Stack size 0 bytes, myi2c.o(i.MyI2C_Delay_us)) -

                                                                                        [Called By]

                                                                                        • >>   MyI2C_SDA -
                                                                                        • >>   MyI2C_SCL -
                                                                                        • >>   MyI2C_Read_SDA +

                                                                                          MyI2C_Delay_us (Thumb, 70 bytes, Stack size 0 bytes, myi2c.o(i.MyI2C_Delay_us)) +

                                                                                          [Called By]

                                                                                          • >>   MyI2C_SDA +
                                                                                          • >>   MyI2C_SCL +
                                                                                          • >>   MyI2C_Read_SDA
                                                                                          -

                                                                                          MyI2C_Init (Thumb, 82 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Init)) +

                                                                                          MyI2C_Init (Thumb, 82 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Init))

                                                                                          [Stack]

                                                                                          • Max Depth = 36
                                                                                          • Call Chain = MyI2C_Init ⇒ GPIO_Init

                                                                                          [Calls]
                                                                                          • >>   GPIO_Init
                                                                                          • >>   RCC_AHB1PeriphClockCmd -
                                                                                          • >>   MyI2C_SDA -
                                                                                          • >>   MyI2C_SCL +
                                                                                          • >>   MyI2C_SDA +
                                                                                          • >>   MyI2C_SCL

                                                                                          [Called By]
                                                                                          • >>   IST8310_Init
                                                                                          -

                                                                                          MyI2C_ReadRegister (Thumb, 120 bytes, Stack size 24 bytes, myi2c.o(i.MyI2C_ReadRegister)) +

                                                                                          MyI2C_ReadRegister (Thumb, 120 bytes, Stack size 24 bytes, myi2c.o(i.MyI2C_ReadRegister))

                                                                                          [Stack]

                                                                                          • Max Depth = 56
                                                                                          • Call Chain = MyI2C_ReadRegister ⇒ MyI2C_SendAck ⇒ MyI2C_SDA
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   MyI2C_Stop -
                                                                                          • >>   MyI2C_Start -
                                                                                          • >>   MyI2C_SendAck -
                                                                                          • >>   MyI2C_Send8bits -
                                                                                          • >>   MyI2C_ReceiveAck -
                                                                                          • >>   MyI2C_Receive8bits +
                                                                                            [Calls]
                                                                                            • >>   MyI2C_Stop +
                                                                                            • >>   MyI2C_Start +
                                                                                            • >>   MyI2C_SendAck +
                                                                                            • >>   MyI2C_Send8bits +
                                                                                            • >>   MyI2C_ReceiveAck +
                                                                                            • >>   MyI2C_Receive8bits

                                                                                            [Called By]
                                                                                            • >>   IST8310_GetData
                                                                                            -

                                                                                            MyI2C_Read_SDA (Thumb, 26 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Read_SDA)) +

                                                                                            MyI2C_Read_SDA (Thumb, 26 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Read_SDA))

                                                                                            [Stack]

                                                                                            • Max Depth = 16
                                                                                            • Call Chain = MyI2C_Read_SDA
                                                                                            -
                                                                                            [Calls]
                                                                                            • >>   GPIO_ReadInputDataBit -
                                                                                            • >>   MyI2C_Delay_us +
                                                                                              [Calls]
                                                                                              • >>   GPIO_ReadInputDataBit +
                                                                                              • >>   MyI2C_Delay_us
                                                                                              -
                                                                                              [Called By]
                                                                                              • >>   MyI2C_ReceiveAck -
                                                                                              • >>   MyI2C_Receive8bits +
                                                                                                [Called By]
                                                                                                • >>   MyI2C_ReceiveAck +
                                                                                                • >>   MyI2C_Receive8bits
                                                                                                -

                                                                                                MyI2C_Receive8bits (Thumb, 60 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Receive8bits)) +

                                                                                                MyI2C_Receive8bits (Thumb, 60 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Receive8bits))

                                                                                                [Stack]

                                                                                                • Max Depth = 32
                                                                                                • Call Chain = MyI2C_Receive8bits ⇒ MyI2C_SDA
                                                                                                -
                                                                                                [Calls]
                                                                                                • >>   MyI2C_SDA -
                                                                                                • >>   MyI2C_SCL -
                                                                                                • >>   MyI2C_Read_SDA +
                                                                                                  [Calls]
                                                                                                  • >>   MyI2C_SDA +
                                                                                                  • >>   MyI2C_SCL +
                                                                                                  • >>   MyI2C_Read_SDA
                                                                                                  -
                                                                                                  [Called By]
                                                                                                  • >>   MyI2C_ReadRegister -
                                                                                                  • >>   MyI2C_ContinuousReadRegister -
                                                                                                  • >>   MyI2C_CheckWhoAmI +
                                                                                                    [Called By]
                                                                                                    • >>   MyI2C_ReadRegister +
                                                                                                    • >>   MyI2C_ContinuousReadRegister +
                                                                                                    • >>   MyI2C_CheckWhoAmI
                                                                                                    -

                                                                                                    MyI2C_ReceiveAck (Thumb, 48 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_ReceiveAck)) +

                                                                                                    MyI2C_ReceiveAck (Thumb, 48 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_ReceiveAck))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 32
                                                                                                    • Call Chain = MyI2C_ReceiveAck ⇒ MyI2C_SDA
                                                                                                    -
                                                                                                    [Calls]
                                                                                                    • >>   MyI2C_SDA -
                                                                                                    • >>   MyI2C_SCL -
                                                                                                    • >>   MyI2C_Read_SDA +
                                                                                                      [Calls]
                                                                                                      • >>   MyI2C_SDA +
                                                                                                      • >>   MyI2C_SCL +
                                                                                                      • >>   MyI2C_Read_SDA
                                                                                                      -
                                                                                                      [Called By]
                                                                                                      • >>   MyI2C_WriteRegister -
                                                                                                      • >>   MyI2C_ReadRegister -
                                                                                                      • >>   MyI2C_ContinuousReadRegister -
                                                                                                      • >>   MyI2C_CheckWhoAmI -
                                                                                                      • >>   MyI2C_CheckDevice +
                                                                                                        [Called By]
                                                                                                        • >>   MyI2C_WriteRegister +
                                                                                                        • >>   MyI2C_ReadRegister +
                                                                                                        • >>   MyI2C_ContinuousReadRegister +
                                                                                                        • >>   MyI2C_CheckWhoAmI +
                                                                                                        • >>   MyI2C_CheckDevice
                                                                                                        -

                                                                                                        MyI2C_SCL (Thumb, 26 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_SCL)) +

                                                                                                        MyI2C_SCL (Thumb, 26 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_SCL))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 16
                                                                                                        • Call Chain = MyI2C_SCL

                                                                                                        [Calls]
                                                                                                        • >>   GPIO_WriteBit -
                                                                                                        • >>   MyI2C_Delay_us +
                                                                                                        • >>   MyI2C_Delay_us
                                                                                                        -
                                                                                                        [Called By]
                                                                                                        • >>   MyI2C_Stop -
                                                                                                        • >>   MyI2C_Start -
                                                                                                        • >>   MyI2C_SendAck -
                                                                                                        • >>   MyI2C_Send8bits -
                                                                                                        • >>   MyI2C_ReceiveAck -
                                                                                                        • >>   MyI2C_Receive8bits -
                                                                                                        • >>   MyI2C_Init +
                                                                                                          [Called By]
                                                                                                          • >>   MyI2C_Stop +
                                                                                                          • >>   MyI2C_Start +
                                                                                                          • >>   MyI2C_SendAck +
                                                                                                          • >>   MyI2C_Send8bits +
                                                                                                          • >>   MyI2C_ReceiveAck +
                                                                                                          • >>   MyI2C_Receive8bits +
                                                                                                          • >>   MyI2C_Init
                                                                                                          -

                                                                                                          MyI2C_SDA (Thumb, 26 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_SDA)) +

                                                                                                          MyI2C_SDA (Thumb, 26 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_SDA))

                                                                                                          [Stack]

                                                                                                          • Max Depth = 16
                                                                                                          • Call Chain = MyI2C_SDA

                                                                                                          [Calls]
                                                                                                          • >>   GPIO_WriteBit -
                                                                                                          • >>   MyI2C_Delay_us +
                                                                                                          • >>   MyI2C_Delay_us
                                                                                                          -
                                                                                                          [Called By]
                                                                                                          • >>   MyI2C_Stop -
                                                                                                          • >>   MyI2C_Start -
                                                                                                          • >>   MyI2C_SendAck -
                                                                                                          • >>   MyI2C_Send8bits -
                                                                                                          • >>   MyI2C_ReceiveAck -
                                                                                                          • >>   MyI2C_Receive8bits -
                                                                                                          • >>   MyI2C_Init +
                                                                                                            [Called By]
                                                                                                            • >>   MyI2C_Stop +
                                                                                                            • >>   MyI2C_Start +
                                                                                                            • >>   MyI2C_SendAck +
                                                                                                            • >>   MyI2C_Send8bits +
                                                                                                            • >>   MyI2C_ReceiveAck +
                                                                                                            • >>   MyI2C_Receive8bits +
                                                                                                            • >>   MyI2C_Init
                                                                                                            -

                                                                                                            MyI2C_Send8bits (Thumb, 58 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Send8bits)) +

                                                                                                            MyI2C_Send8bits (Thumb, 58 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_Send8bits))

                                                                                                            [Stack]

                                                                                                            • Max Depth = 32
                                                                                                            • Call Chain = MyI2C_Send8bits ⇒ MyI2C_SDA
                                                                                                            -
                                                                                                            [Calls]
                                                                                                            • >>   MyI2C_SDA -
                                                                                                            • >>   MyI2C_SCL +
                                                                                                              [Calls]
                                                                                                              • >>   MyI2C_SDA +
                                                                                                              • >>   MyI2C_SCL
                                                                                                              -
                                                                                                              [Called By]
                                                                                                              • >>   MyI2C_WriteRegister -
                                                                                                              • >>   MyI2C_ReadRegister -
                                                                                                              • >>   MyI2C_ContinuousReadRegister -
                                                                                                              • >>   MyI2C_CheckWhoAmI -
                                                                                                              • >>   MyI2C_CheckDevice +
                                                                                                                [Called By]
                                                                                                                • >>   MyI2C_WriteRegister +
                                                                                                                • >>   MyI2C_ReadRegister +
                                                                                                                • >>   MyI2C_ContinuousReadRegister +
                                                                                                                • >>   MyI2C_CheckWhoAmI +
                                                                                                                • >>   MyI2C_CheckDevice
                                                                                                                -

                                                                                                                MyI2C_SendAck (Thumb, 48 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_SendAck)) +

                                                                                                                MyI2C_SendAck (Thumb, 48 bytes, Stack size 16 bytes, myi2c.o(i.MyI2C_SendAck))

                                                                                                                [Stack]

                                                                                                                • Max Depth = 32
                                                                                                                • Call Chain = MyI2C_SendAck ⇒ MyI2C_SDA
                                                                                                                -
                                                                                                                [Calls]
                                                                                                                • >>   MyI2C_SDA -
                                                                                                                • >>   MyI2C_SCL +
                                                                                                                  [Calls]
                                                                                                                  • >>   MyI2C_SDA +
                                                                                                                  • >>   MyI2C_SCL
                                                                                                                  -
                                                                                                                  [Called By]
                                                                                                                  • >>   MyI2C_ReadRegister -
                                                                                                                  • >>   MyI2C_ContinuousReadRegister -
                                                                                                                  • >>   MyI2C_CheckWhoAmI +
                                                                                                                    [Called By]
                                                                                                                    • >>   MyI2C_ReadRegister +
                                                                                                                    • >>   MyI2C_ContinuousReadRegister +
                                                                                                                    • >>   MyI2C_CheckWhoAmI
                                                                                                                    -

                                                                                                                    MyI2C_Start (Thumb, 38 bytes, Stack size 8 bytes, myi2c.o(i.MyI2C_Start)) +

                                                                                                                    MyI2C_Start (Thumb, 38 bytes, Stack size 8 bytes, myi2c.o(i.MyI2C_Start))

                                                                                                                    [Stack]

                                                                                                                    • Max Depth = 24
                                                                                                                    • Call Chain = MyI2C_Start ⇒ MyI2C_SDA
                                                                                                                    -
                                                                                                                    [Calls]
                                                                                                                    • >>   MyI2C_SDA -
                                                                                                                    • >>   MyI2C_SCL +
                                                                                                                      [Calls]
                                                                                                                      • >>   MyI2C_SDA +
                                                                                                                      • >>   MyI2C_SCL
                                                                                                                      -
                                                                                                                      [Called By]
                                                                                                                      • >>   MyI2C_WriteRegister -
                                                                                                                      • >>   MyI2C_ReadRegister -
                                                                                                                      • >>   MyI2C_ContinuousReadRegister -
                                                                                                                      • >>   MyI2C_CheckWhoAmI -
                                                                                                                      • >>   MyI2C_CheckDevice +
                                                                                                                        [Called By]
                                                                                                                        • >>   MyI2C_WriteRegister +
                                                                                                                        • >>   MyI2C_ReadRegister +
                                                                                                                        • >>   MyI2C_ContinuousReadRegister +
                                                                                                                        • >>   MyI2C_CheckWhoAmI +
                                                                                                                        • >>   MyI2C_CheckDevice
                                                                                                                        -

                                                                                                                        MyI2C_Stop (Thumb, 30 bytes, Stack size 8 bytes, myi2c.o(i.MyI2C_Stop)) +

                                                                                                                        MyI2C_Stop (Thumb, 30 bytes, Stack size 8 bytes, myi2c.o(i.MyI2C_Stop))

                                                                                                                        [Stack]

                                                                                                                        • Max Depth = 24
                                                                                                                        • Call Chain = MyI2C_Stop ⇒ MyI2C_SDA
                                                                                                                        -
                                                                                                                        [Calls]
                                                                                                                        • >>   MyI2C_SDA -
                                                                                                                        • >>   MyI2C_SCL +
                                                                                                                          [Calls]
                                                                                                                          • >>   MyI2C_SDA +
                                                                                                                          • >>   MyI2C_SCL
                                                                                                                          -
                                                                                                                          [Called By]
                                                                                                                          • >>   MyI2C_WriteRegister -
                                                                                                                          • >>   MyI2C_ReadRegister -
                                                                                                                          • >>   MyI2C_ContinuousReadRegister -
                                                                                                                          • >>   MyI2C_CheckWhoAmI -
                                                                                                                          • >>   MyI2C_CheckDevice +
                                                                                                                            [Called By]
                                                                                                                            • >>   MyI2C_WriteRegister +
                                                                                                                            • >>   MyI2C_ReadRegister +
                                                                                                                            • >>   MyI2C_ContinuousReadRegister +
                                                                                                                            • >>   MyI2C_CheckWhoAmI +
                                                                                                                            • >>   MyI2C_CheckDevice
                                                                                                                            -

                                                                                                                            MyI2C_WriteRegister (Thumb, 90 bytes, Stack size 24 bytes, myi2c.o(i.MyI2C_WriteRegister)) +

                                                                                                                            MyI2C_WriteRegister (Thumb, 90 bytes, Stack size 24 bytes, myi2c.o(i.MyI2C_WriteRegister))

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 56
                                                                                                                            • Call Chain = MyI2C_WriteRegister ⇒ MyI2C_Send8bits ⇒ MyI2C_SDA
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   MyI2C_Stop -
                                                                                                                            • >>   MyI2C_Start -
                                                                                                                            • >>   MyI2C_Send8bits -
                                                                                                                            • >>   MyI2C_ReceiveAck +
                                                                                                                              [Calls]
                                                                                                                              • >>   MyI2C_Stop +
                                                                                                                              • >>   MyI2C_Start +
                                                                                                                              • >>   MyI2C_Send8bits +
                                                                                                                              • >>   MyI2C_ReceiveAck

                                                                                                                              [Called By]
                                                                                                                              • >>   IST8310_Init
                                                                                                                              @@ -1742,32 +1756,33 @@ Global Symbols

                                                                                                                            [Called By]
                                                                                                                            • >>   IST8310_Init
                                                                                                                            • >>   BMI088_Init -
                                                                                                                            • >>   Remote_Init +
                                                                                                                            • >>   Remote_Init
                                                                                                                            • >>   CAN_CANInit -
                                                                                                                            • >>   UART2_Init -
                                                                                                                            • >>   UART1_Init +
                                                                                                                            • >>   UART2_Init +
                                                                                                                            • >>   UART1_Init
                                                                                                                            • >>   AttitudeAlgorithms_Init
                                                                                                                            • >>   CloseLoopControl_Init -
                                                                                                                            • >>   LinkCheck_Init +
                                                                                                                            • >>   LinkCheck_Init

                                                                                                                            NVIC_PriorityGroupConfig (Thumb, 10 bytes, Stack size 0 bytes, misc.o(i.NVIC_PriorityGroupConfig))

                                                                                                                            [Called By]

                                                                                                                            • >>   IST8310_Init
                                                                                                                            • >>   BMI088_Init -
                                                                                                                            • >>   Remote_Init +
                                                                                                                            • >>   Remote_Init
                                                                                                                            • >>   CAN_CANInit -
                                                                                                                            • >>   UART2_Init -
                                                                                                                            • >>   UART1_Init +
                                                                                                                            • >>   UART2_Init +
                                                                                                                            • >>   UART1_Init
                                                                                                                            • >>   AttitudeAlgorithms_Init
                                                                                                                            • >>   CloseLoopControl_Init -
                                                                                                                            • >>   LinkCheck_Init +
                                                                                                                            • >>   LinkCheck_Init

                                                                                                                            PID_PositionCalc (Thumb, 230 bytes, Stack size 0 bytes, pid.o(i.PID_PositionCalc)) -

                                                                                                                            [Called By]

                                                                                                                            • >>   Gimbal_YawControl -
                                                                                                                            • >>   Gimbal_Rammer +

                                                                                                                              [Called By]
                                                                                                                              • >>   Gimbal_YawControl +
                                                                                                                              • >>   Gimbal_Rammer +
                                                                                                                              • >>   Gimbal_PitchControl
                                                                                                                              • >>   Gimbal_FiringMechanismControl -
                                                                                                                              • >>   IMUTemperatureControl_TemperatureControl +
                                                                                                                              • >>   IMUTemperatureControl_TemperatureControl

                                                                                                                              PID_PositionClean (Thumb, 18 bytes, Stack size 0 bytes, pid.o(i.PID_PositionClean)) @@ -1801,102 +1816,102 @@ Global Symbols

                                                                                                                              [Called By]

                                                                                                                              • >>   Laser_Init
                                                                                                                              • >>   IST8310_Init
                                                                                                                              • >>   BMI088_Init -
                                                                                                                              • >>   Remote_Init +
                                                                                                                              • >>   Remote_Init
                                                                                                                              • >>   Buzzer_Init -
                                                                                                                              • >>   LED_Init +
                                                                                                                              • >>   LED_Init
                                                                                                                              • >>   CAN_CANInit -
                                                                                                                              • >>   MyI2C_Init -
                                                                                                                              • >>   UART2_Init -
                                                                                                                              • >>   UART1_Init +
                                                                                                                              • >>   MyI2C_Init +
                                                                                                                              • >>   UART2_Init +
                                                                                                                              • >>   UART1_Init

                                                                                                                              RCC_APB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)) -

                                                                                                                              [Called By]

                                                                                                                              • >>   Remote_Init +

                                                                                                                                [Called By]
                                                                                                                                • >>   Remote_Init
                                                                                                                                • >>   Buzzer_Init
                                                                                                                                • >>   CAN_CANInit
                                                                                                                                • >>   CloseLoopControl_Init -
                                                                                                                                • >>   LinkCheck_Init +
                                                                                                                                • >>   LinkCheck_Init

                                                                                                                                RCC_APB2PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd))

                                                                                                                                [Called By]

                                                                                                                                • >>   IST8310_Init
                                                                                                                                • >>   BMI088_Init -
                                                                                                                                • >>   UART2_Init -
                                                                                                                                • >>   UART1_Init +
                                                                                                                                • >>   UART2_Init +
                                                                                                                                • >>   UART1_Init
                                                                                                                                • >>   AttitudeAlgorithms_Init
                                                                                                                                -

                                                                                                                                RCC_GetClocksFreq (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq)) +

                                                                                                                                RCC_GetClocksFreq (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq))

                                                                                                                                [Stack]

                                                                                                                                • Max Depth = 20
                                                                                                                                • Call Chain = RCC_GetClocksFreq
                                                                                                                                -
                                                                                                                                [Called By]
                                                                                                                                • >>   USART_Init +
                                                                                                                                  [Called By]
                                                                                                                                  • >>   USART_Init
                                                                                                                                  -

                                                                                                                                  RefereeSystem_GetCRC16CheckSum (Thumb, 38 bytes, Stack size 12 bytes, refereesystem.o(i.RefereeSystem_GetCRC16CheckSum)) +

                                                                                                                                  RefereeSystem_GetCRC16CheckSum (Thumb, 38 bytes, Stack size 12 bytes, refereesystem.o(i.RefereeSystem_GetCRC16CheckSum))

                                                                                                                                  [Stack]

                                                                                                                                  • Max Depth = 12
                                                                                                                                  • Call Chain = RefereeSystem_GetCRC16CheckSum
                                                                                                                                  -
                                                                                                                                  [Called By]
                                                                                                                                  • >>   RefereeSystem_VerifyCRC16CheckSum +
                                                                                                                                    [Called By]
                                                                                                                                    • >>   RefereeSystem_VerifyCRC16CheckSum
                                                                                                                                    -

                                                                                                                                    RefereeSystem_GetCRC8CheckSum (Thumb, 32 bytes, Stack size 12 bytes, refereesystem.o(i.RefereeSystem_GetCRC8CheckSum)) +

                                                                                                                                    RefereeSystem_GetCRC8CheckSum (Thumb, 32 bytes, Stack size 12 bytes, refereesystem.o(i.RefereeSystem_GetCRC8CheckSum))

                                                                                                                                    [Stack]

                                                                                                                                    • Max Depth = 12
                                                                                                                                    • Call Chain = RefereeSystem_GetCRC8CheckSum
                                                                                                                                    -
                                                                                                                                    [Called By]
                                                                                                                                    • >>   RefereeSystem_VerifyCRC8CheckSum +
                                                                                                                                      [Called By]
                                                                                                                                      • >>   RefereeSystem_VerifyCRC8CheckSum
                                                                                                                                      -

                                                                                                                                      RefereeSystem_Init (Thumb, 8 bytes, Stack size 8 bytes, refereesystem.o(i.RefereeSystem_Init)) +

                                                                                                                                      RefereeSystem_Init (Thumb, 8 bytes, Stack size 8 bytes, refereesystem.o(i.RefereeSystem_Init))

                                                                                                                                      [Stack]

                                                                                                                                      • Max Depth = 116
                                                                                                                                      • Call Chain = RefereeSystem_Init ⇒ Keyboard_Init ⇒ UART1_Init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                                                      -
                                                                                                                                      [Calls]
                                                                                                                                      • >>   Keyboard_Init +
                                                                                                                                        [Calls]
                                                                                                                                        • >>   Keyboard_Init

                                                                                                                                        [Called By]
                                                                                                                                        • >>   main
                                                                                                                                        -

                                                                                                                                        RefereeSystem_VerifyCRC16CheckSum (Thumb, 60 bytes, Stack size 16 bytes, refereesystem.o(i.RefereeSystem_VerifyCRC16CheckSum)) +

                                                                                                                                        RefereeSystem_VerifyCRC16CheckSum (Thumb, 60 bytes, Stack size 16 bytes, refereesystem.o(i.RefereeSystem_VerifyCRC16CheckSum))

                                                                                                                                        [Stack]

                                                                                                                                        • Max Depth = 28
                                                                                                                                        • Call Chain = RefereeSystem_VerifyCRC16CheckSum ⇒ RefereeSystem_GetCRC16CheckSum
                                                                                                                                        -
                                                                                                                                        [Calls]
                                                                                                                                        • >>   RefereeSystem_GetCRC16CheckSum +
                                                                                                                                          [Calls]
                                                                                                                                          • >>   RefereeSystem_GetCRC16CheckSum

                                                                                                                                          [Called By]
                                                                                                                                          • >>   USART6_IRQHandler
                                                                                                                                          -

                                                                                                                                          RefereeSystem_VerifyCRC8CheckSum (Thumb, 50 bytes, Stack size 16 bytes, refereesystem.o(i.RefereeSystem_VerifyCRC8CheckSum)) +

                                                                                                                                          RefereeSystem_VerifyCRC8CheckSum (Thumb, 50 bytes, Stack size 16 bytes, refereesystem.o(i.RefereeSystem_VerifyCRC8CheckSum))

                                                                                                                                          [Stack]

                                                                                                                                          • Max Depth = 28
                                                                                                                                          • Call Chain = RefereeSystem_VerifyCRC8CheckSum ⇒ RefereeSystem_GetCRC8CheckSum
                                                                                                                                          -
                                                                                                                                          [Calls]
                                                                                                                                          • >>   RefereeSystem_GetCRC8CheckSum +
                                                                                                                                            [Calls]
                                                                                                                                            • >>   RefereeSystem_GetCRC8CheckSum

                                                                                                                                            [Called By]
                                                                                                                                            • >>   USART6_IRQHandler
                                                                                                                                            -

                                                                                                                                            Remote_DataProcess (Thumb, 480 bytes, Stack size 16 bytes, remote.o(i.Remote_DataProcess)) +

                                                                                                                                            Remote_DataProcess (Thumb, 480 bytes, Stack size 16 bytes, remote.o(i.Remote_DataProcess))

                                                                                                                                            [Stack]

                                                                                                                                            • Max Depth = 16
                                                                                                                                            • Call Chain = Remote_DataProcess
                                                                                                                                            -
                                                                                                                                            [Calls]
                                                                                                                                            • >>   DMA_GetCurrentMemoryTarget +
                                                                                                                                              [Calls]
                                                                                                                                              • >>   DMA_GetCurrentMemoryTarget

                                                                                                                                              [Called By]
                                                                                                                                              • >>   USART3_IRQHandler
                                                                                                                                              -

                                                                                                                                              Remote_Init (Thumb, 402 bytes, Stack size 104 bytes, remote.o(i.Remote_Init)) +

                                                                                                                                              Remote_Init (Thumb, 402 bytes, Stack size 104 bytes, remote.o(i.Remote_Init))

                                                                                                                                              [Stack]

                                                                                                                                              • Max Depth = 172
                                                                                                                                              • Call Chain = Remote_Init ⇒ USART_Init ⇒ RCC_GetClocksFreq

                                                                                                                                              [Calls]
                                                                                                                                              • >>   NVIC_PriorityGroupConfig
                                                                                                                                              • >>   NVIC_Init
                                                                                                                                              • >>   DMA_Init -
                                                                                                                                              • >>   DMA_DoubleBufferModeConfig -
                                                                                                                                              • >>   DMA_DoubleBufferModeCmd +
                                                                                                                                              • >>   DMA_DoubleBufferModeConfig +
                                                                                                                                              • >>   DMA_DoubleBufferModeCmd
                                                                                                                                              • >>   DMA_Cmd
                                                                                                                                              • >>   GPIO_PinAFConfig
                                                                                                                                              • >>   GPIO_Init -
                                                                                                                                              • >>   IWDG_WriteAccessCmd -
                                                                                                                                              • >>   IWDG_SetReload -
                                                                                                                                              • >>   IWDG_SetPrescaler -
                                                                                                                                              • >>   IWDG_Enable +
                                                                                                                                              • >>   IWDG_WriteAccessCmd +
                                                                                                                                              • >>   IWDG_SetReload +
                                                                                                                                              • >>   IWDG_SetPrescaler +
                                                                                                                                              • >>   IWDG_Enable
                                                                                                                                              • >>   RCC_APB1PeriphClockCmd
                                                                                                                                              • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                              • >>   USART_Init -
                                                                                                                                              • >>   USART_ITConfig -
                                                                                                                                              • >>   USART_DMACmd -
                                                                                                                                              • >>   USART_Cmd +
                                                                                                                                              • >>   USART_Init +
                                                                                                                                              • >>   USART_ITConfig +
                                                                                                                                              • >>   USART_DMACmd +
                                                                                                                                              • >>   USART_Cmd
                                                                                                                                              • >>   TIM_TimeBaseInit
                                                                                                                                              • >>   TIM_InternalClockConfig
                                                                                                                                              • >>   TIM_ITConfig @@ -1906,7 +1921,7 @@ Global Symbols
                                                                                                                                                [Called By]
                                                                                                                                                • >>   main
                                                                                                                                                -

                                                                                                                                                Remote_TransferReset (Thumb, 62 bytes, Stack size 8 bytes, remote.o(i.Remote_TransferReset)) +

                                                                                                                                                Remote_TransferReset (Thumb, 62 bytes, Stack size 8 bytes, remote.o(i.Remote_TransferReset))

                                                                                                                                                [Stack]

                                                                                                                                                • Max Depth = 20
                                                                                                                                                • Call Chain = Remote_TransferReset ⇒ DMA_GetFlagStatus

                                                                                                                                                [Calls]
                                                                                                                                                • >>   DMA_SetCurrDataCounter @@ -1970,17 +1985,17 @@ Global Symbols

                                                                                                                                                  SystemInit (Thumb, 88 bytes, Stack size 8 bytes, system_stm32f4xx.o(i.SystemInit))

                                                                                                                                                  [Stack]

                                                                                                                                                  • Max Depth = 20
                                                                                                                                                  • Call Chain = SystemInit ⇒ SetSysClock
                                                                                                                                                  -
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   SetSysClock +
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   SetSysClock

                                                                                                                                                    [Address Reference Count : 1]
                                                                                                                                                    • startup_stm32f40_41xxx.o(.text)

                                                                                                                                                    TIM1_TRG_COM_TIM11_IRQHandler (Thumb, 308 bytes, Stack size 8 bytes, attitudealgorithms.o(i.TIM1_TRG_COM_TIM11_IRQHandler))

                                                                                                                                                    [Stack]

                                                                                                                                                    • Max Depth = 280
                                                                                                                                                    • Call Chain = TIM1_TRG_COM_TIM11_IRQHandler ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf
                                                                                                                                                    -
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   TIM_GetITStatus -
                                                                                                                                                    • >>   TIM_ClearITPendingBit -
                                                                                                                                                    • >>   kalmanFilter -
                                                                                                                                                    • >>   get_angle +
                                                                                                                                                      [Calls]
                                                                                                                                                      • >>   TIM_GetITStatus +
                                                                                                                                                      • >>   TIM_ClearITPendingBit +
                                                                                                                                                      • >>   kalmanFilter +
                                                                                                                                                      • >>   get_angle
                                                                                                                                                      • >>   AHRS_update
                                                                                                                                                      • >>   __aeabi_l2f
                                                                                                                                                      @@ -1989,30 +2004,30 @@ Global Symbols

                                                                                                                                                      TIM2_IRQHandler (Thumb, 24 bytes, Stack size 8 bytes, tim.o(i.TIM2_IRQHandler))

                                                                                                                                                      [Stack]

                                                                                                                                                      • Max Depth = 20
                                                                                                                                                      • Call Chain = TIM2_IRQHandler ⇒ TIM_GetITStatus
                                                                                                                                                      -
                                                                                                                                                      [Calls]
                                                                                                                                                      • >>   TIM_GetITStatus -
                                                                                                                                                      • >>   TIM_ClearITPendingBit +
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   TIM_GetITStatus +
                                                                                                                                                        • >>   TIM_ClearITPendingBit

                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                        • startup_stm32f40_41xxx.o(RESET)

                                                                                                                                                        TIM6_DAC_IRQHandler (Thumb, 104 bytes, Stack size 8 bytes, closeloopcontrol.o(i.TIM6_DAC_IRQHandler))

                                                                                                                                                        [Stack]

                                                                                                                                                        • Max Depth = 80
                                                                                                                                                        • Call Chain = TIM6_DAC_IRQHandler ⇒ Gimbal_MoveControl ⇒ Gimbal_YawControl ⇒ GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus
                                                                                                                                                        -
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   TIM_GetITStatus -
                                                                                                                                                        • >>   TIM_ClearITPendingBit -
                                                                                                                                                        • >>   IMUTemperatureControl_TemperatureControl +
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   TIM_GetITStatus +
                                                                                                                                                          • >>   TIM_ClearITPendingBit +
                                                                                                                                                          • >>   IMUTemperatureControl_TemperatureControl
                                                                                                                                                          • >>   Gimbal_MoveControl
                                                                                                                                                          • >>   Gimbal_CleanPID -
                                                                                                                                                          • >>   Warming_MotorControl -
                                                                                                                                                          • >>   Warming_LinkError +
                                                                                                                                                          • >>   Warming_MotorControl +
                                                                                                                                                          • >>   Warming_LinkError

                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                          • startup_stm32f40_41xxx.o(RESET)

                                                                                                                                                          TIM7_IRQHandler (Thumb, 44 bytes, Stack size 8 bytes, remote.o(i.TIM7_IRQHandler))

                                                                                                                                                          [Stack]

                                                                                                                                                          • Max Depth = 24
                                                                                                                                                          • Call Chain = TIM7_IRQHandler ⇒ Warming_RemoteNoCheck ⇒ LED_RON
                                                                                                                                                          -
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   Warming_RemoteNoCheck -
                                                                                                                                                          • >>   TIM_GetITStatus -
                                                                                                                                                          • >>   TIM_ClearITPendingBit +
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   Warming_RemoteNoCheck +
                                                                                                                                                            • >>   TIM_GetITStatus +
                                                                                                                                                            • >>   TIM_ClearITPendingBit

                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                            • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                            @@ -2021,19 +2036,19 @@ Global Symbols

                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   CAN_CAN_GetRefereeSystemData
                                                                                                                                                          • >>   CAN_CANIDReset -
                                                                                                                                                          • >>   TIM_GetITStatus -
                                                                                                                                                          • >>   TIM_ClearITPendingBit +
                                                                                                                                                          • >>   TIM_GetITStatus +
                                                                                                                                                          • >>   TIM_ClearITPendingBit

                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                          • startup_stm32f40_41xxx.o(RESET)

                                                                                                                                                          TIM_ClearFlag (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearFlag)) -

                                                                                                                                                          [Called By]

                                                                                                                                                          • >>   Remote_Init +

                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   Remote_Init
                                                                                                                                                            • >>   AttitudeAlgorithms_Init
                                                                                                                                                            • >>   CloseLoopControl_Init -
                                                                                                                                                            • >>   LinkCheck_Init +
                                                                                                                                                            • >>   LinkCheck_Init
                                                                                                                                                            -

                                                                                                                                                            TIM_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearITPendingBit)) +

                                                                                                                                                            TIM_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearITPendingBit))

                                                                                                                                                            [Called By]

                                                                                                                                                            • >>   TIM7_IRQHandler
                                                                                                                                                            • >>   TIM2_IRQHandler
                                                                                                                                                            • >>   TIM1_TRG_COM_TIM11_IRQHandler @@ -2043,7 +2058,7 @@ Global Symbols

                                                                                                                                                              TIM_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_Cmd))

                                                                                                                                                              [Called By]

                                                                                                                                                              • >>   USART3_IRQHandler -
                                                                                                                                                              • >>   Remote_Init +
                                                                                                                                                              • >>   Remote_Init
                                                                                                                                                              • >>   Buzzer_ON
                                                                                                                                                              • >>   Buzzer_Init
                                                                                                                                                              • >>   LinkCheck_ON @@ -2051,10 +2066,10 @@ Global Symbols
                                                                                                                                                              • >>   USART6_IRQHandler
                                                                                                                                                              • >>   AttitudeAlgorithms_Init
                                                                                                                                                              • >>   CloseLoopControl_Init -
                                                                                                                                                              • >>   LinkCheck_Init +
                                                                                                                                                              • >>   LinkCheck_Init
                                                                                                                                                              -

                                                                                                                                                              TIM_GetITStatus (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_tim.o(i.TIM_GetITStatus)) +

                                                                                                                                                              TIM_GetITStatus (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_tim.o(i.TIM_GetITStatus))

                                                                                                                                                              [Stack]

                                                                                                                                                              • Max Depth = 12
                                                                                                                                                              • Call Chain = TIM_GetITStatus

                                                                                                                                                              [Called By]
                                                                                                                                                              • >>   TIM7_IRQHandler @@ -2065,18 +2080,18 @@ Global Symbols

                                                                                                                                                              TIM_ITConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ITConfig)) -

                                                                                                                                                              [Called By]

                                                                                                                                                              • >>   Remote_Init +

                                                                                                                                                                [Called By]
                                                                                                                                                                • >>   Remote_Init
                                                                                                                                                                • >>   AttitudeAlgorithms_Init
                                                                                                                                                                • >>   CloseLoopControl_Init -
                                                                                                                                                                • >>   LinkCheck_Init +
                                                                                                                                                                • >>   LinkCheck_Init

                                                                                                                                                                TIM_InternalClockConfig (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_InternalClockConfig)) -

                                                                                                                                                                [Called By]

                                                                                                                                                                • >>   Remote_Init +

                                                                                                                                                                  [Called By]
                                                                                                                                                                  • >>   Remote_Init
                                                                                                                                                                  • >>   Buzzer_Init
                                                                                                                                                                  • >>   AttitudeAlgorithms_Init
                                                                                                                                                                  • >>   CloseLoopControl_Init -
                                                                                                                                                                  • >>   LinkCheck_Init +
                                                                                                                                                                  • >>   LinkCheck_Init

                                                                                                                                                                  TIM_OC3Init (Thumb, 150 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC3Init)) @@ -2093,29 +2108,29 @@ Global Symbols

                                                                                                                                                                  [Called By]

                                                                                                                                                                  • >>   Buzzer_ON
                                                                                                                                                                  -

                                                                                                                                                                  TIM_SetCompare1 (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetCompare1)) -

                                                                                                                                                                  [Called By]

                                                                                                                                                                  • >>   IMUTemperatureControl_TemperatureControl +

                                                                                                                                                                    TIM_SetCompare1 (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetCompare1)) +

                                                                                                                                                                    [Called By]

                                                                                                                                                                    • >>   IMUTemperatureControl_TemperatureControl

                                                                                                                                                                    TIM_SetCompare3 (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetCompare3))

                                                                                                                                                                    [Called By]

                                                                                                                                                                    • >>   Buzzer_ON
                                                                                                                                                                    -

                                                                                                                                                                    TIM_SetCounter (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetCounter)) +

                                                                                                                                                                    TIM_SetCounter (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetCounter))

                                                                                                                                                                    [Called By]

                                                                                                                                                                    • >>   USART3_IRQHandler
                                                                                                                                                                    • >>   LinkCheck_ON
                                                                                                                                                                    • >>   USART6_IRQHandler

                                                                                                                                                                    TIM_TimeBaseInit (Thumb, 104 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_TimeBaseInit)) -

                                                                                                                                                                    [Called By]

                                                                                                                                                                    • >>   Remote_Init +

                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   Remote_Init
                                                                                                                                                                      • >>   Buzzer_Init
                                                                                                                                                                      • >>   AttitudeAlgorithms_Init
                                                                                                                                                                      • >>   CloseLoopControl_Init -
                                                                                                                                                                      • >>   LinkCheck_Init +
                                                                                                                                                                      • >>   LinkCheck_Init
                                                                                                                                                                      -

                                                                                                                                                                      UART1_Init (Thumb, 176 bytes, Stack size 32 bytes, uart.o(i.UART1_Init)) +

                                                                                                                                                                      UART1_Init (Thumb, 176 bytes, Stack size 32 bytes, uart.o(i.UART1_Init))

                                                                                                                                                                      [Stack]

                                                                                                                                                                      • Max Depth = 100
                                                                                                                                                                      • Call Chain = UART1_Init ⇒ USART_Init ⇒ RCC_GetClocksFreq

                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   NVIC_PriorityGroupConfig @@ -2124,14 +2139,14 @@ Global Symbols
                                                                                                                                                                      • >>   GPIO_Init
                                                                                                                                                                      • >>   RCC_APB2PeriphClockCmd
                                                                                                                                                                      • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                                                      • >>   USART_Init -
                                                                                                                                                                      • >>   USART_ITConfig -
                                                                                                                                                                      • >>   USART_Cmd +
                                                                                                                                                                      • >>   USART_Init +
                                                                                                                                                                      • >>   USART_ITConfig +
                                                                                                                                                                      • >>   USART_Cmd
                                                                                                                                                                      -
                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   Keyboard_Init +
                                                                                                                                                                        [Called By]
                                                                                                                                                                        • >>   Keyboard_Init
                                                                                                                                                                        -

                                                                                                                                                                        UART2_Init (Thumb, 194 bytes, Stack size 32 bytes, uart.o(i.UART2_Init)) +

                                                                                                                                                                        UART2_Init (Thumb, 194 bytes, Stack size 32 bytes, uart.o(i.UART2_Init))

                                                                                                                                                                        [Stack]

                                                                                                                                                                        • Max Depth = 100
                                                                                                                                                                        • Call Chain = UART2_Init ⇒ USART_Init ⇒ RCC_GetClocksFreq

                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   NVIC_PriorityGroupConfig @@ -2140,58 +2155,59 @@ Global Symbols
                                                                                                                                                                        • >>   GPIO_Init
                                                                                                                                                                        • >>   RCC_APB2PeriphClockCmd
                                                                                                                                                                        • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                                                        • >>   USART_Init -
                                                                                                                                                                        • >>   USART_ITConfig -
                                                                                                                                                                        • >>   USART_Cmd +
                                                                                                                                                                        • >>   USART_Init +
                                                                                                                                                                        • >>   USART_ITConfig +
                                                                                                                                                                        • >>   USART_Cmd
                                                                                                                                                                        -
                                                                                                                                                                        [Called By]
                                                                                                                                                                        • >>   Visual_Init +
                                                                                                                                                                          [Called By]
                                                                                                                                                                          • >>   Visual_Init
                                                                                                                                                                          -

                                                                                                                                                                          UART2_Printf (Thumb, 36 bytes, Stack size 128 bytes, uart.o(i.UART2_Printf)) +

                                                                                                                                                                          UART2_Printf (Thumb, 36 bytes, Stack size 128 bytes, uart.o(i.UART2_Printf))

                                                                                                                                                                          [Stack]

                                                                                                                                                                          • Max Depth = 152
                                                                                                                                                                          • Call Chain = UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte
                                                                                                                                                                          -
                                                                                                                                                                          [Calls]
                                                                                                                                                                          • >>   UART2_SendString -
                                                                                                                                                                          • >>   vsprintf +
                                                                                                                                                                            [Calls]
                                                                                                                                                                            • >>   UART2_SendString +
                                                                                                                                                                            • >>   vsprintf

                                                                                                                                                                            [Called By]
                                                                                                                                                                            • >>   main +
                                                                                                                                                                            • >>   Visual_SendData
                                                                                                                                                                            -

                                                                                                                                                                            UART2_SendByte (Thumb, 28 bytes, Stack size 8 bytes, uart.o(i.UART2_SendByte)) +

                                                                                                                                                                            UART2_SendByte (Thumb, 28 bytes, Stack size 8 bytes, uart.o(i.UART2_SendByte))

                                                                                                                                                                            [Stack]

                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                            • Call Chain = UART2_SendByte
                                                                                                                                                                            -
                                                                                                                                                                            [Calls]
                                                                                                                                                                            • >>   USART_SendData -
                                                                                                                                                                            • >>   USART_GetFlagStatus +
                                                                                                                                                                              [Calls]
                                                                                                                                                                              • >>   USART_SendData +
                                                                                                                                                                              • >>   USART_GetFlagStatus
                                                                                                                                                                              -
                                                                                                                                                                              [Called By]
                                                                                                                                                                              • >>   UART2_SendString +
                                                                                                                                                                                [Called By]
                                                                                                                                                                                • >>   UART2_SendString
                                                                                                                                                                                -

                                                                                                                                                                                UART2_SendString (Thumb, 26 bytes, Stack size 16 bytes, uart.o(i.UART2_SendString)) +

                                                                                                                                                                                UART2_SendString (Thumb, 26 bytes, Stack size 16 bytes, uart.o(i.UART2_SendString))

                                                                                                                                                                                [Stack]

                                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                                • Call Chain = UART2_SendString ⇒ UART2_SendByte
                                                                                                                                                                                -
                                                                                                                                                                                [Calls]
                                                                                                                                                                                • >>   UART2_SendByte +
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   UART2_SendByte
                                                                                                                                                                                  -
                                                                                                                                                                                  [Called By]
                                                                                                                                                                                  • >>   UART2_Printf +
                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   UART2_Printf

                                                                                                                                                                                    USART1_IRQHandler (Thumb, 46 bytes, Stack size 8 bytes, visual.o(i.USART1_IRQHandler))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                    • Call Chain = USART1_IRQHandler ⇒ USART_GetITStatus
                                                                                                                                                                                    -
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   USART_GetITStatus -
                                                                                                                                                                                    • >>   USART_ClearITPendingBit -
                                                                                                                                                                                    • >>   Visual_Trans +
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   USART_GetITStatus +
                                                                                                                                                                                      • >>   USART_ClearITPendingBit +
                                                                                                                                                                                      • >>   Visual_Trans

                                                                                                                                                                                      [Address Reference Count : 1]
                                                                                                                                                                                      • startup_stm32f40_41xxx.o(RESET)

                                                                                                                                                                                      USART3_IRQHandler (Thumb, 126 bytes, Stack size 8 bytes, remote.o(i.USART3_IRQHandler))

                                                                                                                                                                                      [Stack]

                                                                                                                                                                                      • Max Depth = 28
                                                                                                                                                                                      • Call Chain = USART3_IRQHandler ⇒ Remote_TransferReset ⇒ DMA_GetFlagStatus
                                                                                                                                                                                      -
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   DMA_GetCurrDataCounter -
                                                                                                                                                                                      • >>   Warming_RemoteDataERROR -
                                                                                                                                                                                      • >>   Warming_LEDClean -
                                                                                                                                                                                      • >>   Remote_TransferReset -
                                                                                                                                                                                      • >>   Remote_DataProcess -
                                                                                                                                                                                      • >>   USART_ClearITPendingBit -
                                                                                                                                                                                      • >>   TIM_SetCounter +
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   DMA_GetCurrDataCounter +
                                                                                                                                                                                        • >>   Warming_RemoteDataERROR +
                                                                                                                                                                                        • >>   Warming_LEDClean +
                                                                                                                                                                                        • >>   Remote_TransferReset +
                                                                                                                                                                                        • >>   Remote_DataProcess +
                                                                                                                                                                                        • >>   USART_ClearITPendingBit +
                                                                                                                                                                                        • >>   TIM_SetCounter
                                                                                                                                                                                        • >>   TIM_Cmd

                                                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                                                        • startup_stm32f40_41xxx.o(RESET) @@ -2199,19 +2215,19 @@ Global Symbols

                                                                                                                                                                                          USART6_IRQHandler (Thumb, 348 bytes, Stack size 8 bytes, refereesystem.o(i.USART6_IRQHandler))

                                                                                                                                                                                          [Stack]

                                                                                                                                                                                          • Max Depth = 36
                                                                                                                                                                                          • Call Chain = USART6_IRQHandler ⇒ RefereeSystem_VerifyCRC8CheckSum ⇒ RefereeSystem_GetCRC8CheckSum
                                                                                                                                                                                          -
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   Warming_LEDClean -
                                                                                                                                                                                          • >>   USART_ReceiveData -
                                                                                                                                                                                          • >>   USART_GetITStatus -
                                                                                                                                                                                          • >>   USART_ClearITPendingBit -
                                                                                                                                                                                          • >>   TIM_SetCounter +
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   Warming_LEDClean +
                                                                                                                                                                                            • >>   USART_ReceiveData +
                                                                                                                                                                                            • >>   USART_GetITStatus +
                                                                                                                                                                                            • >>   USART_ClearITPendingBit +
                                                                                                                                                                                            • >>   TIM_SetCounter
                                                                                                                                                                                            • >>   TIM_Cmd -
                                                                                                                                                                                            • >>   Keyboard_DataProcess -
                                                                                                                                                                                            • >>   RefereeSystem_VerifyCRC8CheckSum -
                                                                                                                                                                                            • >>   RefereeSystem_VerifyCRC16CheckSum +
                                                                                                                                                                                            • >>   Keyboard_DataProcess +
                                                                                                                                                                                            • >>   RefereeSystem_VerifyCRC8CheckSum +
                                                                                                                                                                                            • >>   RefereeSystem_VerifyCRC16CheckSum

                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                            • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                            -

                                                                                                                                                                                            USART_ClearITPendingBit (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_usart.o(i.USART_ClearITPendingBit)) +

                                                                                                                                                                                            USART_ClearITPendingBit (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_usart.o(i.USART_ClearITPendingBit))

                                                                                                                                                                                            [Stack]

                                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                                            • Call Chain = USART_ClearITPendingBit

                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   USART3_IRQHandler @@ -2219,65 +2235,74 @@ Global Symbols
                                                                                                                                                                                            • >>   USART1_IRQHandler
                                                                                                                                                                                            -

                                                                                                                                                                                            USART_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd)) -

                                                                                                                                                                                            [Called By]

                                                                                                                                                                                            • >>   Remote_Init -
                                                                                                                                                                                            • >>   UART2_Init -
                                                                                                                                                                                            • >>   UART1_Init +

                                                                                                                                                                                              USART_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd)) +

                                                                                                                                                                                              [Called By]

                                                                                                                                                                                              • >>   Remote_Init +
                                                                                                                                                                                              • >>   UART2_Init +
                                                                                                                                                                                              • >>   UART1_Init
                                                                                                                                                                                              -

                                                                                                                                                                                              USART_DMACmd (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_DMACmd)) -

                                                                                                                                                                                              [Called By]

                                                                                                                                                                                              • >>   Remote_Init +

                                                                                                                                                                                                USART_DMACmd (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_DMACmd)) +

                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                • >>   Remote_Init
                                                                                                                                                                                                -

                                                                                                                                                                                                USART_GetFlagStatus (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_GetFlagStatus)) -

                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                • >>   UART2_SendByte +

                                                                                                                                                                                                  USART_GetFlagStatus (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_GetFlagStatus)) +

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   UART2_SendByte
                                                                                                                                                                                                  -

                                                                                                                                                                                                  USART_GetITStatus (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_usart.o(i.USART_GetITStatus)) +

                                                                                                                                                                                                  USART_GetITStatus (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_usart.o(i.USART_GetITStatus))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                  • Call Chain = USART_GetITStatus

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

                                                                                                                                                                                                  USART_ITConfig (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig)) +

                                                                                                                                                                                                  USART_ITConfig (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 20
                                                                                                                                                                                                  • Call Chain = USART_ITConfig
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                  • >>   Remote_Init -
                                                                                                                                                                                                  • >>   UART2_Init -
                                                                                                                                                                                                  • >>   UART1_Init +
                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                    • >>   Remote_Init +
                                                                                                                                                                                                    • >>   UART2_Init +
                                                                                                                                                                                                    • >>   UART1_Init
                                                                                                                                                                                                    -

                                                                                                                                                                                                    USART_Init (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init)) +

                                                                                                                                                                                                    USART_Init (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init))

                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                    • Max Depth = 68
                                                                                                                                                                                                    • Call Chain = USART_Init ⇒ RCC_GetClocksFreq
                                                                                                                                                                                                    -
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   RCC_GetClocksFreq +
                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   RCC_GetClocksFreq
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   Remote_Init -
                                                                                                                                                                                                      • >>   UART2_Init -
                                                                                                                                                                                                      • >>   UART1_Init +
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   Remote_Init +
                                                                                                                                                                                                        • >>   UART2_Init +
                                                                                                                                                                                                        • >>   UART1_Init
                                                                                                                                                                                                        -

                                                                                                                                                                                                        USART_ReceiveData (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_ReceiveData)) +

                                                                                                                                                                                                        USART_ReceiveData (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_ReceiveData))

                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                        • >>   USART6_IRQHandler
                                                                                                                                                                                                        -

                                                                                                                                                                                                        USART_SendData (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_SendData)) -

                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                        • >>   UART2_SendByte +

                                                                                                                                                                                                          USART_SendData (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_SendData)) +

                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                          • >>   UART2_SendByte

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

                                                                                                                                                                                                          • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                                          -

                                                                                                                                                                                                          Visual_Init (Thumb, 8 bytes, Stack size 8 bytes, visual.o(i.Visual_Init)) +

                                                                                                                                                                                                          Visual_Init (Thumb, 8 bytes, Stack size 8 bytes, visual.o(i.Visual_Init))

                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                          • Max Depth = 108
                                                                                                                                                                                                          • Call Chain = Visual_Init ⇒ UART2_Init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                                                                                                                          -
                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                          • >>   UART2_Init +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   UART2_Init

                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                            -

                                                                                                                                                                                                            Visual_Trans (Thumb, 274 bytes, Stack size 0 bytes, visual.o(i.Visual_Trans)) +

                                                                                                                                                                                                            Visual_SendData (Thumb, 48 bytes, Stack size 24 bytes, visual.o(i.Visual_SendData)) +

                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                            • Max Depth = 176
                                                                                                                                                                                                            • Call Chain = Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte +
                                                                                                                                                                                                            +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   UART2_Printf +
                                                                                                                                                                                                            • >>   __aeabi_f2d +
                                                                                                                                                                                                            +
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   main +
                                                                                                                                                                                                            + +

                                                                                                                                                                                                            Visual_Trans (Thumb, 274 bytes, Stack size 0 bytes, visual.o(i.Visual_Trans))

                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                            • >>   USART1_IRQHandler
                                                                                                                                                                                                            @@ -2285,8 +2310,8 @@ Global Symbols

                                                                                                                                                                                                            Warming_BMI088LinkError (Thumb, 84 bytes, Stack size 8 bytes, warming.o(i.Warming_BMI088LinkError))

                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                            • Max Depth = 16
                                                                                                                                                                                                            • Call Chain = Warming_BMI088LinkError ⇒ LED_GON
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   LED_GON -
                                                                                                                                                                                                            • >>   LED_GOFF +
                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   LED_GON +
                                                                                                                                                                                                              • >>   LED_GOFF

                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   BMI088_Init
                                                                                                                                                                                                              @@ -2300,44 +2325,44 @@ Global Symbols
                                                                                                                                                                                                            • >>   CAN1_RX0_IRQHandler
                                                                                                                                                                                                            -

                                                                                                                                                                                                            Warming_IMUTemperatureTooHigh (Thumb, 8 bytes, Stack size 8 bytes, warming.o(i.Warming_IMUTemperatureTooHigh)) +

                                                                                                                                                                                                            Warming_IMUTemperatureTooHigh (Thumb, 8 bytes, Stack size 8 bytes, warming.o(i.Warming_IMUTemperatureTooHigh))

                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                            • Max Depth = 16
                                                                                                                                                                                                            • Call Chain = Warming_IMUTemperatureTooHigh ⇒ LED_GON
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   LED_GON +
                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   LED_GON
                                                                                                                                                                                                              -
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   IMUTemperatureControl_TemperatureControl +
                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   IMUTemperatureControl_TemperatureControl
                                                                                                                                                                                                                -

                                                                                                                                                                                                                Warming_IST8310LinkError (Thumb, 56 bytes, Stack size 8 bytes, warming.o(i.Warming_IST8310LinkError)) +

                                                                                                                                                                                                                Warming_IST8310LinkError (Thumb, 56 bytes, Stack size 8 bytes, warming.o(i.Warming_IST8310LinkError))

                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                • Call Chain = Warming_IST8310LinkError ⇒ LED_GON
                                                                                                                                                                                                                -
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   LED_GON -
                                                                                                                                                                                                                • >>   LED_GOFF +
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   LED_GON +
                                                                                                                                                                                                                  • >>   LED_GOFF

                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   IST8310_Init
                                                                                                                                                                                                                  -

                                                                                                                                                                                                                  Warming_Init (Thumb, 12 bytes, Stack size 8 bytes, warming.o(i.Warming_Init)) +

                                                                                                                                                                                                                  Warming_Init (Thumb, 12 bytes, Stack size 8 bytes, warming.o(i.Warming_Init))

                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                  • Max Depth = 76
                                                                                                                                                                                                                  • Call Chain = Warming_Init ⇒ Buzzer_Init ⇒ GPIO_PinAFConfig

                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   Buzzer_Init -
                                                                                                                                                                                                                  • >>   LED_Init +
                                                                                                                                                                                                                  • >>   LED_Init

                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   main
                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                  • Call Chain = Warming_LEDClean ⇒ LED_ROFF
                                                                                                                                                                                                                  -
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   LED_ROFF -
                                                                                                                                                                                                                  • >>   LED_GOFF -
                                                                                                                                                                                                                  • >>   LED_BOFF +
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   LED_ROFF +
                                                                                                                                                                                                                    • >>   LED_GOFF +
                                                                                                                                                                                                                    • >>   LED_BOFF

                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                    • >>   USART3_IRQHandler
                                                                                                                                                                                                                    • >>   USART6_IRQHandler
                                                                                                                                                                                                                    -

                                                                                                                                                                                                                    Warming_LinkError (Thumb, 136 bytes, Stack size 8 bytes, warming.o(i.Warming_LinkError)) +

                                                                                                                                                                                                                    Warming_LinkError (Thumb, 136 bytes, Stack size 8 bytes, warming.o(i.Warming_LinkError))

                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                    • Call Chain = Warming_LinkError ⇒ Buzzer_ON

                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   Buzzer_ON @@ -2345,51 +2370,51 @@ Global Symbols
                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                      • >>   TIM6_DAC_IRQHandler
                                                                                                                                                                                                                      -

                                                                                                                                                                                                                      Warming_MotorControl (Thumb, 40 bytes, Stack size 8 bytes, warming.o(i.Warming_MotorControl)) +

                                                                                                                                                                                                                      Warming_MotorControl (Thumb, 40 bytes, Stack size 8 bytes, warming.o(i.Warming_MotorControl))

                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                      • Max Depth = 64
                                                                                                                                                                                                                      • Call Chain = Warming_MotorControl ⇒ M2006_CANSetHIDCurrent ⇒ CAN_TransmitStatus
                                                                                                                                                                                                                      -
                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                      • >>   M2006_CANSetHIDCurrent +
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   M2006_CANSetHIDCurrent
                                                                                                                                                                                                                        • >>   GM6020_CAN2SetLIDVoltage
                                                                                                                                                                                                                        • >>   M3508_CANSetLIDCurrent

                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   TIM6_DAC_IRQHandler
                                                                                                                                                                                                                        -

                                                                                                                                                                                                                        Warming_RemoteDataERROR (Thumb, 8 bytes, Stack size 8 bytes, warming.o(i.Warming_RemoteDataERROR)) +

                                                                                                                                                                                                                        Warming_RemoteDataERROR (Thumb, 8 bytes, Stack size 8 bytes, warming.o(i.Warming_RemoteDataERROR))

                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                        • Max Depth = 16
                                                                                                                                                                                                                        • Call Chain = Warming_RemoteDataERROR ⇒ LED_RON
                                                                                                                                                                                                                        -
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   LED_RON +
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   LED_RON

                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   USART3_IRQHandler
                                                                                                                                                                                                                          -

                                                                                                                                                                                                                          Warming_RemoteNoCheck (Thumb, 84 bytes, Stack size 8 bytes, warming.o(i.Warming_RemoteNoCheck)) +

                                                                                                                                                                                                                          Warming_RemoteNoCheck (Thumb, 84 bytes, Stack size 8 bytes, warming.o(i.Warming_RemoteNoCheck))

                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                          • Max Depth = 16
                                                                                                                                                                                                                          • Call Chain = Warming_RemoteNoCheck ⇒ LED_RON
                                                                                                                                                                                                                          -
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   LED_RON -
                                                                                                                                                                                                                          • >>   LED_ROFF +
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   LED_RON +
                                                                                                                                                                                                                            • >>   LED_ROFF

                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   TIM7_IRQHandler
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            __0vsprintf (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                                                                                                                                                                                            __0vsprintf (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)

                                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                                            • >>   _sputc -
                                                                                                                                                                                                                            • >>   _printf_core +
                                                                                                                                                                                                                            • >>   _printf_core
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            __1vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                                                                                                                                                                                            __1vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                                                                                                                                                                                                                            __2vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                                                                                                                                                                                            __2vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                                                                                                                                                                                                                            __c89vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                                                                                                                                                                                            __c89vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                                                                                                                                                                                                                            vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf)) +

                                                                                                                                                                                                                            vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf))

                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                            • Call Chain = vsprintf
                                                                                                                                                                                                                            -
                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   UART2_Printf +
                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   UART2_Printf
                                                                                                                                                                                                                              -

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

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

                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                              • >>   __hardfp_sinf
                                                                                                                                                                                                                              • >>   __hardfp_atan2f
                                                                                                                                                                                                                              • >>   __hardfp_asinf @@ -2398,12 +2423,12 @@ Global Symbols

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

                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                • Max Depth = 32
                                                                                                                                                                                                                                • Call Chain = __hardfp_asinf ⇒ sqrtf
                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   __set_errno -
                                                                                                                                                                                                                                • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                • >>   __mathlib_flt_infnan -
                                                                                                                                                                                                                                • >>   __ARM_fpclassifyf -
                                                                                                                                                                                                                                • >>   sqrtf +
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   __set_errno +
                                                                                                                                                                                                                                  • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                  • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                  • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                  • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                  • >>   sqrtf

                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   AHRS_asinf
                                                                                                                                                                                                                                  @@ -2411,10 +2436,10 @@ Global Symbols

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

                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                                  • Call Chain = __hardfp_atan2f
                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   __set_errno -
                                                                                                                                                                                                                                  • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                  • >>   __mathlib_flt_infnan2 -
                                                                                                                                                                                                                                  • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   __set_errno +
                                                                                                                                                                                                                                    • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                    • >>   __mathlib_flt_infnan2 +
                                                                                                                                                                                                                                    • >>   __ARM_fpclassifyf

                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   AHRS_atan2f
                                                                                                                                                                                                                                    @@ -2422,10 +2447,10 @@ Global Symbols

                                                                                                                                                                                                                                    __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 -
                                                                                                                                                                                                                                    • >>   __mathlib_rredf2 -
                                                                                                                                                                                                                                    • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                    • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                      • >>   __set_errno +
                                                                                                                                                                                                                                      • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                      • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                      • >>   __mathlib_flt_infnan

                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                      • >>   AHRS_cosf
                                                                                                                                                                                                                                      @@ -2433,12 +2458,12 @@ Global Symbols

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

                                                                                                                                                                                                                                      [Stack]

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

                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   AHRS_sinf
                                                                                                                                                                                                                                        @@ -2446,48 +2471,48 @@ Global Symbols

                                                                                                                                                                                                                                        __hardfp_sqrtf (Thumb, 58 bytes, Stack size 16 bytes, sqrtf.o(i.__hardfp_sqrtf))

                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                        • Max Depth = 16
                                                                                                                                                                                                                                        • Call Chain = __hardfp_sqrtf
                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   __set_errno +
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   __set_errno

                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                          • >>   AHRS_invSqrt
                                                                                                                                                                                                                                          -

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

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

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_sinf
                                                                                                                                                                                                                                          • >>   __hardfp_cosf
                                                                                                                                                                                                                                          • >>   __hardfp_asinf
                                                                                                                                                                                                                                          -

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

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

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_atan2f
                                                                                                                                                                                                                                          -

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

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

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_sinf
                                                                                                                                                                                                                                          • >>   __hardfp_cosf
                                                                                                                                                                                                                                          • >>   __hardfp_asinf
                                                                                                                                                                                                                                          -

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

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

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_sinf
                                                                                                                                                                                                                                          • >>   __hardfp_atan2f
                                                                                                                                                                                                                                          • >>   __hardfp_asinf
                                                                                                                                                                                                                                          -

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

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

                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                          • Max Depth = 20
                                                                                                                                                                                                                                          • Call Chain = __mathlib_rredf2

                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                          • >>   __hardfp_sinf
                                                                                                                                                                                                                                          • >>   __hardfp_cosf
                                                                                                                                                                                                                                          -

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

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

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

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

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

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

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

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   sqrtf +

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

                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                            • >>   sqrtf
                                                                                                                                                                                                                                            • >>   __hardfp_sqrtf
                                                                                                                                                                                                                                            • >>   __hardfp_sinf
                                                                                                                                                                                                                                            • >>   __hardfp_cosf @@ -2495,7 +2520,7 @@ Global Symbols
                                                                                                                                                                                                                                            • >>   __hardfp_asinf
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            get_angle (Thumb, 232 bytes, Stack size 24 bytes, ahrs.o(i.get_angle)) +

                                                                                                                                                                                                                                            get_angle (Thumb, 232 bytes, Stack size 24 bytes, ahrs.o(i.get_angle))

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 72
                                                                                                                                                                                                                                            • Call Chain = get_angle ⇒ AHRS_atan2f ⇒ __hardfp_atan2f

                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   AHRS_atan2f @@ -2504,35 +2529,37 @@ Global Symbols
                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   TIM1_TRG_COM_TIM11_IRQHandler
                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                              kalmanFilter (Thumb, 106 bytes, Stack size 0 bytes, wavefiltering_kalman_filtering.o(i.kalmanFilter)) -

                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                              • >>   TIM1_TRG_COM_TIM11_IRQHandler +

                                                                                                                                                                                                                                                kalmanFilter (Thumb, 106 bytes, Stack size 0 bytes, wavefiltering_kalman_filtering.o(i.kalmanFilter)) +

                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                • >>   Gimbal_PitchControl +
                                                                                                                                                                                                                                                • >>   TIM1_TRG_COM_TIM11_IRQHandler
                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                main (Thumb, 124 bytes, Stack size 0 bytes, main.o(i.main)) +

                                                                                                                                                                                                                                                main (Thumb, 128 bytes, Stack size 0 bytes, main.o(i.main))

                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                • Max Depth = 204
                                                                                                                                                                                                                                                • Call Chain = main ⇒ AttitudeAlgorithms_Init ⇒ AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                • >>   IWDG_ReloadCounter -
                                                                                                                                                                                                                                                • >>   Remote_Init -
                                                                                                                                                                                                                                                • >>   LED_BON -
                                                                                                                                                                                                                                                • >>   UART2_Printf +
                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                  • >>   IWDG_ReloadCounter +
                                                                                                                                                                                                                                                  • >>   Remote_Init +
                                                                                                                                                                                                                                                  • >>   LED_BON +
                                                                                                                                                                                                                                                  • >>   UART2_Printf
                                                                                                                                                                                                                                                  • >>   Delay_us
                                                                                                                                                                                                                                                  • >>   Delay_s -
                                                                                                                                                                                                                                                  • >>   RefereeSystem_Init +
                                                                                                                                                                                                                                                  • >>   RefereeSystem_Init
                                                                                                                                                                                                                                                  • >>   AttitudeAlgorithms_Init
                                                                                                                                                                                                                                                  • >>   CloseLoopControl_Init
                                                                                                                                                                                                                                                  • >>   CToC_MasterSendData
                                                                                                                                                                                                                                                  • >>   CToC_MasterSendControl -
                                                                                                                                                                                                                                                  • >>   Warming_Init -
                                                                                                                                                                                                                                                  • >>   LinkCheck_Init -
                                                                                                                                                                                                                                                  • >>   Visual_Trans -
                                                                                                                                                                                                                                                  • >>   Visual_Init +
                                                                                                                                                                                                                                                  • >>   Warming_Init +
                                                                                                                                                                                                                                                  • >>   LinkCheck_Init +
                                                                                                                                                                                                                                                  • >>   Visual_Trans +
                                                                                                                                                                                                                                                  • >>   Visual_SendData +
                                                                                                                                                                                                                                                  • >>   Visual_Init

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

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

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

                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                  • Call Chain = sqrtf
                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                  • >>   __set_errno +
                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                    • >>   __set_errno

                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                    • >>   __hardfp_asinf
                                                                                                                                                                                                                                                    @@ -2540,7 +2567,7 @@ Global Symbols

                                                                                                                                                                                                                                                    Local Symbols

                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                    SetSysClock (Thumb, 220 bytes, Stack size 12 bytes, system_stm32f4xx.o(i.SetSysClock)) +

                                                                                                                                                                                                                                                    SetSysClock (Thumb, 220 bytes, Stack size 12 bytes, system_stm32f4xx.o(i.SetSysClock))

                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                    • Max Depth = 12
                                                                                                                                                                                                                                                    • Call Chain = SetSysClock

                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                    • >>   SystemInit @@ -2550,24 +2577,24 @@ Local Symbols

                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                      • >>   CAN_GetITStatus
                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                      AHRS_fabs (Thumb, 26 bytes, Stack size 0 bytes, ahrs.o(i.AHRS_fabs)) -

                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                      • >>   accel_update_kp_ki +

                                                                                                                                                                                                                                                        AHRS_fabs (Thumb, 26 bytes, Stack size 0 bytes, ahrs.o(i.AHRS_fabs)) +

                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                        • >>   accel_update_kp_ki

                                                                                                                                                                                                                                                        accel_comple_filter (Thumb, 454 bytes, Stack size 64 bytes, ahrs.o(i.accel_comple_filter))

                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                        • Max Depth = 136
                                                                                                                                                                                                                                                        • Call Chain = accel_comple_filter ⇒ accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf

                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                        • >>   AHRS_invSqrt -
                                                                                                                                                                                                                                                        • >>   accel_update_kp_ki +
                                                                                                                                                                                                                                                        • >>   accel_update_kp_ki

                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   AHRS_update
                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                        accel_update_kp_ki (Thumb, 370 bytes, Stack size 40 bytes, ahrs.o(i.accel_update_kp_ki)) +

                                                                                                                                                                                                                                                        accel_update_kp_ki (Thumb, 370 bytes, Stack size 40 bytes, ahrs.o(i.accel_update_kp_ki))

                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                        • Max Depth = 72
                                                                                                                                                                                                                                                        • Call Chain = accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf

                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                        • >>   AHRS_invSqrt -
                                                                                                                                                                                                                                                        • >>   AHRS_fabs +
                                                                                                                                                                                                                                                        • >>   AHRS_fabs

                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   accel_comple_filter
                                                                                                                                                                                                                                                        @@ -2593,37 +2620,37 @@ Local Symbols

                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   AHRS_update
                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                        _fp_digits (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED) +

                                                                                                                                                                                                                                                        _fp_digits (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)

                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                        • >>   __aeabi_uldivmod
                                                                                                                                                                                                                                                        • >>   __aeabi_dmul
                                                                                                                                                                                                                                                        • >>   __aeabi_ddiv
                                                                                                                                                                                                                                                        • >>   __aeabi_dadd
                                                                                                                                                                                                                                                        • >>   __aeabi_d2ulz -
                                                                                                                                                                                                                                                        • >>   __aeabi_cdrcmple +
                                                                                                                                                                                                                                                        • >>   __aeabi_cdrcmple
                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   _printf_core +
                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                          • >>   _printf_core
                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                          _printf_core (Thumb, 1704 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED) +

                                                                                                                                                                                                                                                          _printf_core (Thumb, 1704 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED)

                                                                                                                                                                                                                                                          [Calls]

                                                                                                                                                                                                                                                          • >>   __aeabi_uldivmod -
                                                                                                                                                                                                                                                          • >>   __aeabi_uidivmod -
                                                                                                                                                                                                                                                          • >>   _printf_pre_padding -
                                                                                                                                                                                                                                                          • >>   _printf_post_padding -
                                                                                                                                                                                                                                                          • >>   _fp_digits +
                                                                                                                                                                                                                                                          • >>   __aeabi_uidivmod +
                                                                                                                                                                                                                                                          • >>   _printf_pre_padding +
                                                                                                                                                                                                                                                          • >>   _printf_post_padding +
                                                                                                                                                                                                                                                          • >>   _fp_digits
                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                          • >>   __0vsprintf +
                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                            • >>   __0vsprintf
                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                            _printf_post_padding (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED) -

                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                            • >>   _printf_core +

                                                                                                                                                                                                                                                              _printf_post_padding (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED) +

                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                              • >>   _printf_core
                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                              _printf_pre_padding (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED) -

                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                              • >>   _printf_core +

                                                                                                                                                                                                                                                                _printf_pre_padding (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED) +

                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                • >>   _printf_core

                                                                                                                                                                                                                                                                _sputc (Thumb, 10 bytes, Stack size 0 bytes, printfa.o(i._sputc)) -

                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                • >>   __0vsprintf +

                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                  • >>   __0vsprintf

                                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                                  • printfa.o(i.__0vsprintf)

                                                                                                                                                                                                                                                                  diff --git a/云台/云台/Objects/Project_Target 1.dep b/云台/云台/Objects/Project_Target 1.dep index a74874a..590e02d 100644 --- a/云台/云台/Objects/Project_Target 1.dep +++ b/云台/云台/Objects/Project_Target 1.dep @@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\Hardware\Remote.h)(0x669D1538) I (Function\CToC.h)(0x669D31F6) -I (.\User\Parameter.h)(0x690830AB) +I (.\User\Parameter.h)(0x6963423E) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) F (.\Function\CToC.h)(0x669D31F6)() F (.\Function\CloseLoopControl.c)(0x67B83013)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\closeloopcontrol.o --omf_browse .\objects\closeloopcontrol.crf --depend .\objects\closeloopcontrol.d) @@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2) F (.\Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)() -F (.\CarBody\Gimbal.c)(0x69082985)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d) +F (.\CarBody\Gimbal.c)(0x6964BC80)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164) I (.\Library\stm32f4xx_dac.h)(0x64D03164) I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) -I (.\User\Parameter.h)(0x690830AB) +I (.\User\Parameter.h)(0x6963423E) I (.\Control\PID.h)(0x6503C236) I (.\Hardware\Remote.h)(0x669D1538) I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) @@ -2612,7 +2612,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\System\UART.h)(0x669D08B6) I (.\Hardware\Remote.h)(0x669D1538) F (.\CarBody\Keyboard.h)(0x66A1BD42)() -F (.\User\main.c)(0x6907412A)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) +F (.\User\main.c)(0x69634F62)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2670,13 +2670,13 @@ I (.\Function\CToC.h)(0x669D31F6) I (.\Function\IMUTemperatureControl.h)(0x65C36CAE) I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) I (.\Function\Warming.h)(0x66A19ADE) -I (User\Parameter.h)(0x690830AB) +I (User\Parameter.h)(0x6963423E) I (.\CarBody\Gimbal.h)(0x67B825A8) I (.\CarBody\Visual.h)(0x67B846AB) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) I (.\CarBody\Keyboard.h)(0x66A1BD42) F (.\User\RM_C.h)(0x66A2BE9A)() -F (.\User\Parameter.h)(0x690830AB)() +F (.\User\Parameter.h)(0x6963423E)() F (.\User\stm32f4xx_conf.h)(0x64D03180)() F (.\User\stm32f4xx_it.c)(0x64D032D2)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d) I (User\stm32f4xx_it.h)(0x64D03180) diff --git a/云台/云台/Objects/ctoc.crf b/云台/云台/Objects/ctoc.crf index 656f8a644d940966034179316ee180d914fec159..a6da70dfb7d42000da956224923dccea4fb4980a 100644 GIT binary patch delta 49 ycmeykUi#yD=?yY$T>DyjPqQ%q!SrS|wsti(Mj&PaVrC#_0brG_)!5ihUjzV{8xBkW diff --git a/云台/云台/Objects/gimbal.crf b/云台/云台/Objects/gimbal.crf index 6d8a03523e0c954ef58b8f268c943dc6284efc07..e6ba3d642040173632418fe9b7d8ca0d91017e1e 100644 GIT binary patch delta 1405 zcmZuwU2IfE6uxtJc5Z)Gg3{^&O&#mCmVj_d;?Gm762+v6J{Tx>xq=dX^1=9|CWf|w z*4SWTNZJ7;T7-%wXfzrd1C^#BC9UbU1s{Ye&*Xt@ljFKIK4a4wL8+zduc}iHV^|O5bsJms&K5~ 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zAM0rRmH+Adw2n0B(geQC6h^5X=TO8|WpY{r^0>>Kl>9EijQKT`Sz80F^L%nx{j{Ecz e=m((NLC^b?2i*@^k8Kk^b=Z3Pth6lKs{RLwiK?yu diff --git a/云台/云台/Objects/main.crf b/云台/云台/Objects/main.crf index 6d428fe82510ff3137ba836422355b3cc2af435c..af220526d19003a52007386da8166cbd5376a450 100644 GIT binary patch delta 87 zcmX?fR_54QnGM>UT>DyjPqQ%qf$C&a&P800=0Ulin;&wvKjdTtVkRJF24WTUT&o{0IKjpM1g9sPaxUUp)if8vwQ7FI+5V7|5r~<9m>Gy!fS47C b*|tCAWdAG8$1506 Symbols - 80 80 80 + 71 71 71 1936 @@ -110,8 +110,8 @@ 0 - 919 - 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898 @@ -1851,8 +1851,8 @@ 0 - 1920 - 1080 + 1707 + 960 @@ -1862,21 +1862,21 @@ 0 100 - 3 + 4 .\System\CAN.c - 2 - 1 - 19 + 152 + 7 + 15 1 0 .\User\main.c - 12 - 25 - 38 + 48 + 28 + 50 1 0 @@ -1892,18 +1892,18 @@ .\User\Parameter.h - 48 - 3 - 5 + 53 + 11 + 14 1 0 .\CarBody\Gimbal.c - 49 - 179 - 190 + 35 + 167 + 192 1 0 @@ -1926,6 +1926,42 @@ 0 + + .\Function\Warming.c + 6 + 1 + 14 + 1 + + 0 + + + .\Function\LinkCheck.c + 0 + 1 + 1 + 1 + + 0 + + + .\Function\IMUTemperatureControl.c + 0 + 1 + 1 + 1 + + 0 + + + .\CarBody\Visual.c + 0 + 1 + 1 + 1 + + 0 + diff --git a/云台/云台/Project.uvoptx b/云台/云台/Project.uvoptx index 41a0b97..bd20a0e 100644 --- a/云台/云台/Project.uvoptx +++ b/云台/云台/Project.uvoptx @@ -1442,7 +1442,7 @@ System - 1 + 0 0 0 0 @@ -1578,7 +1578,7 @@ AHRS - 1 + 0 0 0 0 @@ -1658,7 +1658,7 @@ Hardware - 1 + 0 0 0 0 @@ -1810,7 +1810,7 @@ Motor - 1 + 0 0 0 0 diff --git a/云台/云台/User/Parameter.h b/云台/云台/User/Parameter.h index 52c0282..447832a 100644 --- a/云台/云台/User/Parameter.h +++ b/云台/云台/User/Parameter.h @@ -10,8 +10,8 @@ #define Pitch_GM6020AngleUpperLinit -20.0f//Pitch轴编码器值上限 /*=============================================云台参数=============================================*/ -#define Gimbal_FrictionWheelSpeed -10000//摩擦轮转速,弹速限制30m/s -#define Gimbal_RammerSpeed -50//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限 +#define Gimbal_FrictionWheelSpeed -5000//摩擦轮转速,弹速限制30m/s +#define Gimbal_RammerSpeed -15//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限 #define Gimbal_LeverSpeedMapRate 1.0f//云台俯仰拨杆速度映射比例 #define Gimbal_YawPitchSpeedRate 2.0f//云台偏航俯仰速度比 diff --git a/云台/云台/User/main.c b/云台/云台/User/main.c index 3db7ef3..fc65db8 100644 --- a/云台/云台/User/main.c +++ b/云台/云台/User/main.c @@ -41,7 +41,7 @@ int main(void) CToC_MasterSendData();//CToC发送遥控器摇杆数据 - //Visual_SendData(); + Visual_SendData(); if(Delay_Count) //每次大循环只执行一次 diff --git a/底盘/底盘/Objects/Project.axf b/底盘/底盘/Objects/Project.axf index 67fe1793155e0f6a1c0a38eadf51e77ed06582d5..fbbd33f83641608fc899ee203d23261fde5766e0 100644 GIT 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                                                                                                                                                                                                                                                                  Collection of Component Files used:

                                                                                                                                                                                                                                                                  -Build Time Elapsed: 00:00:05 +Build Time Elapsed: 00:00:04 diff --git a/底盘/底盘/Objects/Project.htm b/底盘/底盘/Objects/Project.htm index 724fea3..b3e1ab9 100644 --- a/底盘/底盘/Objects/Project.htm +++ b/底盘/底盘/Objects/Project.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\Objects\Project.axf]

                                                                                                                                                                                                                                                                  Static Call Graph for image .\Objects\Project.axf

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                                                                                                                                                                                                                                                                  #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Mon Nov 03 12:34:21 2025 +

                                                                                                                                                                                                                                                                  #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sun Jan 11 14:26:24 2026

                                                                                                                                                                                                                                                                  Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)

                                                                                                                                                                                                                                                                  Call chain for Maximum Stack Depth:

                                                                                                                                                                                                                                                                  diff --git a/底盘/底盘/Objects/Project_Target 1.dep b/底盘/底盘/Objects/Project_Target 1.dep index 3d96e36..23d323b 100644 --- a/底盘/底盘/Objects/Project_Target 1.dep +++ b/底盘/底盘/Objects/Project_Target 1.dep @@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (Control\PID.h)(0x6503C236) F (.\Control\PID.h)(0x6503C236)() -F (.\CarBody\Mecanum.c)(0x69082C7F)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d) +F (.\CarBody\Mecanum.c)(0x69083235)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d) I (.\Start\stm32f4xx.h)(0x64F48C00) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x669D0F64) I (.\Motor\GM6020.h)(0x669D0FFA) I (.\Hardware\Remote.h)(0x669D0E38) I (.\Control\PID.h)(0x6503C236) -I (.\User\Parameter.h)(0x690830C8) +I (.\User\Parameter.h)(0x6908316C) I (CarBody\RefereeSystem.h)(0x66A104BA) I (CarBody\Ultra_CAP.h)(0x66A1111C) I (CarBody\Mecanum.h)(0x66A1C558) @@ -2407,7 +2407,7 @@ I (CarBody\UI_Base.h)(0x664C499A) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2) I (.\System\UART.h)(0x669CFA98) F (.\CarBody\UI_Library.h)(0x66A113C6)() -F (.\User\main.c)(0x66A10DEC)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) +F (.\User\main.c)(0x69633E20)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) I (.\Start\stm32f4xx.h)(0x64F48C00) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x65F5DCF4) I (.\Function\CloseLoopControl.h)(0x66A0FD22) I (.\Function\CToC.h)(0x669D3130) I (.\Function\Warming.h)(0x66A19ADE) -I (User\Parameter.h)(0x690830C8) +I (User\Parameter.h)(0x6908316C) I (.\CarBody\Mecanum.h)(0x66A1C558) I (.\CarBody\RefereeSystem.h)(0x66A104BA) I (.\CarBody\RefereeSystem_CRCTable.h)(0x66A0FD98) I (.\CarBody\Ultra_CAP.h)(0x66A1111C) I (.\CarBody\UI.h)(0x66A113C6) F (.\User\RM_C.h)(0x66A234BA)() -F (.\User\Parameter.h)(0x690830C8)() +F (.\User\Parameter.h)(0x6908316C)() F (.\User\stm32f4xx_conf.h)(0x64D03180)() F (.\User\stm32f4xx_it.c)(0x64D032D2)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d) I (User\stm32f4xx_it.h)(0x64D03180) diff --git a/底盘/底盘/Objects/main.crf b/底盘/底盘/Objects/main.crf index 91a5a66e12c21d9cead3f8c4a739ef99fd908a38..f7b133723bf5f1d3284c009dd5e1f4b24ad48f1f 100644 GIT binary patch delta 116 zcmdlrOJ>(BnGH%DTyGvNIKjpM1f7$0I4*H5_|tP5%)Qaf!P(Bi$q2+uK+FupEI`b< zor9BY{TCMD2F3&1cmHJ*<6+@#V62~hm6P3+g};HZd^#T&yA6v_17qfPKQ8u}Oe}m2 MjH{===3(~-04#JNivR!s delta 116 zcmdlrOJ>(BnGH%DTqhnbIKjpM1nVa2a9rYgGrMIgn9JSF!P(Bi$q2+uK+FupEI`b< zor9BY{TCLY2F8QicmHJ*<6+@xU~HIvm6P3+g|C6JVmcoeyA6wA17p^9KQ8u}Of0+& MjBBR9=3(~-0N3&$ivR!s diff --git a/底盘/底盘/Objects/mecanum.crf b/底盘/底盘/Objects/mecanum.crf index 1565915782a141b5d0723ef3bd5e28095eb96e29..3ba509aa48f2047f5abdef3e1b2834f464f3cb6d 100644 GIT binary patch delta 68 zcmcb*Q|9VUnGKuRxZXTkaDt5i2!2oA!`8&L^$C 38003 Registers - 140 63 + 124 79 346 @@ -40,7 +40,7 @@ 1506 Symbols - 80 80 80 + 71 71 71 1936 @@ -91,10 +91,10 @@ 44 2 - 3 + 2 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 473 - 0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000300000002000000010000004C433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C436172426F64795C4D6563616E756D2E6300000000094D6563616E756D2E6300000000C5D4F200FFFFFFFF47433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C53797374656D5C43414E2E63000000000543414E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000D90000006600000080070000BB020000 + 890 + 0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000700000004000000010000004C433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C436172426F64795C4D6563616E756D2E6300000000094D6563616E756D2E6300000000C5D4F200FFFFFFFF47433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C53797374656D5C43414E2E63000000000543414E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4D433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C46756E6374696F6E5C5761726D696E672E6300000000095761726D696E672E6300000000F0A0A100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C557365725C6D61696E2E6300000000066D61696E2E6300000000BCA8E100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C4D6F746F725C4D333530382E6300000000074D333530382E63000000009CC1B600FFFFFFFF56433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CB5D7C5CC5CB5D7C5CC5C46756E6374696F6E5C436C6F73654C6F6F70436F6E74726F6C2E630000000012436C6F73654C6F6F70436F6E74726F6C2E6300000000F7B88600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000004C84FFFF4F83FFFFAB89FFFF2C85FFFF @@ -150,11 +150,11 @@ 0 16 - 0300000066000000D20000008B020000 + 03000000660000004501000055030000 16 - 2200000039000000F7000000EC000000 + CCFFFFFFD8010000A1000000B5030000 @@ -170,11 +170,11 @@ 0 16 - 0300000066000000D20000008B020000 + 03000000660000004501000055030000 16 - 22000000390000001E01000031020000 + CCFFFFFFD8010000A1000000B5030000 @@ -450,11 +450,11 @@ 0 16 - 0300000066000000D20000008B020000 + 03000000660000004501000055030000 16 - 22000000390000001E01000031020000 + CCFFFFFFD8010000A1000000B5030000 @@ -470,11 +470,11 @@ 0 16 - 0300000066000000D20000008B020000 + 03000000660000004501000055030000 16 - 22000000390000001E01000031020000 + CCFFFFFFD8010000A1000000B5030000 @@ -490,7 +490,7 @@ 0 16 - 00000000BC02000080070000E6030000 + 4C01000044020000AB0600006E030000 16 @@ -530,7 +530,7 @@ 0 16 - 03000000BF0200007D0700000D030000 + 4F01000047020000F407000055030000 16 @@ -1150,11 +1150,11 @@ 0 16 - 0300000066000000D20000004B030000 + 0300000066000000D200000013020000 16 - 22000000390000001E01000031020000 + CCFFFFFFD8010000A1000000B5030000 @@ -1170,7 +1170,7 @@ 0 16 - 03000000BF0200007D0700000D030000 + 4F01000047020000F407000055030000 16 @@ -1190,7 +1190,7 @@ 0 16 - 03000000BF0200007D0700000D030000 + 4F01000047020000F407000055030000 16 @@ -1250,7 +1250,7 @@ 0 16 - 03000000BF0200007D0700000D030000 + 4F01000047020000F407000055030000 16 @@ -1270,7 +1270,7 @@ 0 16 - 03000000BF0200007D0700000D030000 + 4F01000047020000F407000055030000 16 @@ -1730,7 +1730,7 @@ 0 16 - 00000000E603000080070000F9030000 + 000000006E030000AB06000081030000 16 @@ -1798,8 +1798,8 @@ - 3312 - 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583 @@ -1851,8 +1851,8 @@ 0 - 1920 - 1080 + 1707 + 960 @@ -1862,11 +1862,11 @@ 0 100 - 2 + 4 .\CarBody\Mecanum.c - 48 - 31 + 50 + 1 61 1 @@ -1874,22 +1874,58 @@ .\System\CAN.c - 0 - 1 - 1 + 85 + 109 + 14 1 0 .\User\Parameter.h - 48 + 58 1 5 1 0 + + .\Function\Warming.c + 0 + 4 + 1 + 1 + + 0 + + + .\User\main.c + 2 + 1 + 13 + 1 + + 0 + + + .\Motor\M3508.c + 0 + 207 + 1 + 1 + + 0 + + + .\Function\CloseLoopControl.c + 0 + 15 + 1 + 1 + + 0 + diff --git a/底盘/底盘/Project.uvoptx b/底盘/底盘/Project.uvoptx index d5c605a..95eae49 100644 --- a/底盘/底盘/Project.uvoptx +++ b/底盘/底盘/Project.uvoptx @@ -1527,7 +1527,7 @@ Hardware - 0 + 1 0 0 0 @@ -1607,7 +1607,7 @@ Motor - 0 + 1 0 0 0 @@ -1663,7 +1663,7 @@ Function - 0 + 1 0 0 0 @@ -1767,7 +1767,7 @@ Control - 0 + 1 0 0 0 @@ -1799,7 +1799,7 @@ CarBody - 0 + 1 0 0 0 diff --git a/底盘/底盘/User/main.c b/底盘/底盘/User/main.c index 6cc656d..2f20f8d 100644 --- a/底盘/底盘/User/main.c +++ b/底盘/底盘/User/main.c @@ -9,6 +9,7 @@ int main() LED_BON();//蓝灯点亮表示代码在运行 Delay_s(2);//延时,等待校准和模块启动 RefereeSystem_Init();//裁判系统数据接收初始化 + //CAN_CANInit(); LinkCheck_Init();//连接检测初始化 Ultra_CAP_Init();//超电初始化 CloseLoopControl_Init();//闭环控制初始化