From 53a706d8f018931f2aa8359f283b9f2786cbf418 Mon Sep 17 00:00:00 2001 From: LSMushui Date: Mon, 3 Nov 2025 12:41:17 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BC=80=E5=90=AF=E5=BA=95=E7=9B=98=E8=B7=9F?= =?UTF-8?q?=E9=9A=8F=EF=BC=8C=E4=BF=AE=E6=94=B9Peremeter.h=E4=B8=ADYaw?= =?UTF-8?q?=E8=BD=B4=E5=9B=9E=E6=AD=A3=E6=97=B6=E7=BC=96=E7=A0=81=E5=99=A8?= =?UTF-8?q?=E5=80=BC=E4=BB=A5=E4=BF=9D=E8=AF=81=E4=BA=91=E5=8F=B0=E6=AD=A3?= =?UTF-8?q?=E7=A1=AE=E5=9B=9E=E4=B8=AD=EF=BC=8C=E7=94=B1=E4=BA=8E=E6=8A=96?= =?UTF-8?q?=E5=8A=A8=E5=92=8C=E4=B8=A5=E9=87=8D=E5=8F=91=E7=83=AD=EF=BC=8C?= =?UTF-8?q?=E6=9A=82=E6=97=B6=E5=85=B3=E9=97=AD=E4=BA=91=E5=8F=B0pitch?= =?UTF-8?q?=E8=BD=B4=E6=8E=A7=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 云台/云台/CarBody/Gimbal.c | 4 +- 云台/云台/Objects/Project.axf | Bin 725656 -> 721572 bytes 云台/云台/Objects/Project.build_log.htm | 66 +- 云台/云台/Objects/Project.htm | 990 ++++++++++++------------ 云台/云台/Objects/Project_Target 1.dep | 10 +- 云台/云台/Objects/ctoc.crf | Bin 448497 -> 448497 bytes 云台/云台/Objects/gimbal.crf | Bin 462186 -> 462181 bytes 云台/云台/Objects/main.crf | Bin 468674 -> 468674 bytes 云台/云台/Project.uvguix.LSMushui | 86 +- 云台/云台/Project.uvoptx | 2 +- 云台/云台/User/Parameter.h | 2 +- 底盘/底盘/CarBody/Mecanum.c | 6 +- 底盘/底盘/Objects/Project.axf | Bin 599820 -> 599836 bytes 底盘/底盘/Objects/Project.build_log.htm | 66 +- 底盘/底盘/Objects/Project.htm | 4 +- 底盘/底盘/Objects/Project_Target 1.dep | 8 +- 底盘/底盘/Objects/main.crf | Bin 462138 -> 462138 bytes 底盘/底盘/Objects/mecanum.crf | Bin 466120 -> 466133 bytes 底盘/底盘/Project.uvguix.LSMushui | 63 +- 底盘/底盘/Project.uvoptx | 6 +- 底盘/底盘/User/Parameter.h | 2 +- 22 files changed, 665 insertions(+), 652 deletions(-) diff --git a/README.md b/README.md index d403355..32a02bf 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ 编译器使用Keil V5 -目前正在调试，暂时关闭底盘跟随以防止疯转，云台急需调整 +目前正在调试，暂时关闭云台pitch轴等待后续修复代码，yaw轴皮带需调整 //Raw Code下的代码为被注释掉的源代码，通常用于关闭某些异常或不需要的功能用于调试 diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c index 3ab56f8..c441eaf 100644 --- a/云台/云台/CarBody/Gimbal.c +++ b/云台/云台/CarBody/Gimbal.c @@ -162,8 +162,6 @@ void Gimbal_PitchControl(void) PID_PositionCalc(&Gimbal_PitchAnglePositionPID,AttitudeAlgorithms_DegRoll); Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT); Gimbal_PitchAngleSpeedPID.Need_Value=-Gimbal_PitchAnglePositionPID.OUT; - - PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed); @@ -279,7 +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 beed92a24f98db159ee948d5053e4a291393f28b..482cdd9ae3cd5b525d032fbae02253a283ad9981 100644 GIT binary patch delta 60303 zcmce<3tUyj7C*jcpTpsRh)3S?I3OS*z5r42i3lPn$l;-)nTU!?q9Ee42UuoSR@%14 z%6yb{t?TugSbDo^R#sMK*!6a;tjz1}+D(lfHxWVq-!-%Md8qgI|9}4f&*y(WpMB1( zHEY&dvu0+^n%T4W+4NGM9S`rNmOh~7v(}1C1yKQtTlOx z^`(J|_0BPh)hk4?_MEO*m76}^#fr76m&C6cuUH3`Y}k^pVbd6EiDLaLc=Xt?C@$*f zDH7;ARsK?jab4Z8sHbJbM8$e&qE^f@*iHl+Q~MfFkJA=~SHFR732xjgETmdi76&GX%JIoH>#<-fP&OMJ%lrlCH6R9T1i zeWwg|T}$wbLwcOwgY25t>=yydMZaf4ud|rOe=AD#>#X})v#BNJMs%*ZWkpF5`Of9weHRHD$zgCl}Wi5W!dYM{g(=Xu0>sqV- zUr=Ummx@lUBzq0`ebK7fZ4tg#y}-lV($Q+uqKAfRQ*FVlU8}W4;rnr0D865|^}zRW zTQ}CKeQ)c|+MBFhP0Z_>x#hF#O}2oZYQuGwc=cpS@%$+4hw8BQtt@L0HpTmlwFX1Q&4tB>J@?YMe0uiXGLnOz_D0ccT+BFiRmx_ zr*65f9SG`CAhKXnM$8{_GG8k2y>f{8Jx=EHoy=>T%qs-W3v`v&wWQ#_lLbr_BaY() z$3Ucp2)xqWhIEFLV?TlI1YD|_D^=T>HTg+tQ*u>YcaJ z*Zq)Y;`@3>C#0{5@74}qr2i|vf9cTD`!9j+yZiT?+o8k^$g|d__rUi6KAU!TLNF{ePT{ffK0_4^C z)&djlEVlrVKgvxR)i>=dy;DH&JjrGROPoBJ%*qhxq0pbp)wFC^!&#gM71r`LnZNCZH`S zHv)Mhd`AG<4C>y#!;#v7R3ggtL|&rrU|=+7ximocqg;RF_4iE%)X)g>DBu1_u0<*w z1-l_L+&2lBWzK><0nI_d?#S!z8wY4MsN+Pc8Yw@N>x8@*Upw;dX#W+p`ztPL?r|s= zfxHOcP(ZnuD9YPyhiFngZdJ6urdIgXwBEQ9eO+l`t+qo=i39Ie*|nw}gBPjjA|XTL zFc60hebRj6%G_41dFVja)?^v>3LDWTctnyrDEzIlLdCQb?157R&Uzah_+A`7c+6EQ zXF<8Iky0wmNS!8J5ku;4S0fK82KOT3{?Szri30cTRc+pgfdi=2BBI$wr4+@gYb9_` z%W@vLC$4JEBkpB4nkI~Vh(VptGal{S=ABdc+rBy_uKmh;SG9$svS{`jH5a}oJaY>( zU%zr+t2U!g5E7QFTJ_lYrqJa9w%B|D4V&<2f}3mIF+ zyiUG}%643N^LkVD*sodVYcr~p^;J1BRoAafyrxacdmf(dx4Z`;uCbUKS9;y3JyZ)X z+d1cjM>gzD5>(08nw}iT&FpS1sW6VM)Fu=@%sQG*7xq^>UH6Xd)V(OT<4VR2EueUQ zV7n4KBrhHC``1|aLHON&OC(r@VYHmS*|7qom67{;jTKaywt9}G5L?) zZR~9OmGEm#^U6A_!EM%9|L&3CV7+FI_37RXDbqFWk*Tl5v^BbT(WbQ^x9u?@MDhI)Dh)aq#NhMNq%}?jGi-`$T{qlZZ%vj#aT90E~3Zk0lY7_MAMs|9?QwrFc;Q~P79)S@AZ)q)&9T)U9#cM}|T6WpFIxf%2q zbvRPzetx`mVtsT9mL1_bSCYBoCitihleU!qQITff5L#NKSV>ER_YuJEy1fq=af`^O zQkww>xWT)1*r=%$wi&KfJQ3Qkda`1jr&FGXb!q{-bG{F-JLlPxq$UQZgMgn#`OLt3 zR+}F*tx;iXL(6F>OZ70|rEa{)qAMpW{XLj(0W(8wQl<;2 z9>A22!9@)`>Q3#EC*v}wxlBe>_UVe17KDZ}L4c|82_};*1wF|&n(Oyz+T|ysy8=ti zWoYoiG|jF>n1Qux-8Tek4lUD+Gs?tw{8R(&c<@;l)={vMguOM{ysoJ6!0y|Tk zNpKqSmJ`M|M#o$qqdoaloEdBCL{VlfQcH=V>B3WQv&f-})o~kjRs-)Z)Two*b~#g< zoT|;KZiO zn*8Vm!un6FgV1vXIYQvEj%(q4FWKsV?z^ft9x zKTNy)Y$)ZDqsa`sPc%WIUiN6VW`C|X8>NkVZa%*4&n1n>9j;hEGAYXFz?G{l4|=UJ zKV(|#-fBC*YPn#w(xWw#QBJ7r6@!$YFk~xwS++o0BT|CK>l{*6!l|ccXhWZWi2Cw8g0<7ncZ-ChOcR!pH8m`{ zb0GB~5H++SCEH(8&{(pe!troo6Obl&IJ`#?V6vH!uK+g29?|>W1Ya2E@&i=99X<7X zz5F)7>zBh(D~h&t%MkV00PUA8{mrS0br0zjbsi}jXpQzUMs91qVvW%r+Zw9QF3=Wk zjbQoOBU>ZP1yq++8$-P!krJjDa}-@_+HLBcqExJ1_=w3DrZAWl2E|NEVsdjzaqilut$aabVcW;ko_1cN;16ZA=zA&FH(-yuE z%__9VUl`A3YF`3VspY&F$L45vy;#HMXPwi<>$K4?6&8U@0x*OnO%Kj<^$mh|-2`s| zOml)kze9)9_43E(Y3E*gg5A|r_woo;J+-FkwVe;B?36a}j}P)ElUST@6;saMuP6Z> zeoa6B@pCV>M?3b~u!aK`w%-!k)s_U2j>WT51}Om_Ti5|YMM_k<67Y?M{lyYeZyQ3G zrHcooDgiAP_E$@2y)3tMF_klUvx9^Z<(4i+xe#x52$+Ba7L=Mr#S*>QTbAH@$RJG0 zpdck+s5d)8sBZ)crSi3>_YP}VgmtyeA(=~rV$XQ9V}zP4Q6Syr%|0ZNONC-f zNWx)n_OT_bUY1+BgcLjJ&5je5D7SP8%ANOSpO9i}yd6uI2*rN)W}l*p0nZ3b%Ag1( zz-nd9gxV!gC>3sHCoRE&N3{7(G2y+f>~EGtM_y@3eMS9}#Y%ucq#@APUTW%Poo!`* zxAYJEv-WvYkA|nM?6jp%(i?#edr2{=sKzPwtl|`zG$Sb#SL3Yqk^+Z;_Y;7gW3!Jd z%rSC;1fb`H31EQa6)Au;3B=fQOG#V<IxI zQ3E^qvJEJ?A=qXwc9kr4D_QJTvRE(q(d*HXclxsDQSx}O)$VKo1<6!m?e#`%!)w0m z40_2`=AO2A#6OmU4S(-WZq z8+;iwb1svD5><>x4 z1Mm^E;>gOJ;A-%neA#=j?N{CWoV`l1=TR>?ubtoDzk$XQ`bt)DmaEJLKlUBUG)1Ii zWXV3P*h?mt7UzxCL9-q0o04kuYO4hE^#KV{xy9*5rcI|!m7IcfS_wA9g-K#PH&Q3g zmc%hSu@1&dS{+KXXBQem`cPWufpJ(Yi>E1$>`b?c{p824pkj@Y=q}k=h1p}22B$NT zCCv6r$LN%tsS>ghlxjeJ;5K?}LDocnoHPT^7Pt@5&+OsB?lolHuIflTzsYY*yNp!kIsFzic=Ta`zpB=KAlG>xf z+?1Q(Heel@#SKP93z9Q+KF}}4NZaf=hDt$TUyxZ|QeRhDvA`vy$)9};At&rMd%m+; 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Dialog DLL: TCM.DLL V1.56.6.0

Project:

-C:\Users\LSMushui\Desktop\RM\hero-test\Hero-C-Board-Legacy\̨\̨\Project.uvprojx +C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\̨\̨\Project.uvprojx Project File Date: 11/02/2025

Output:

*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin' Rebuild target 'Target 1' assembling startup_stm32f40_41xxx.s... -compiling stm32f4xx_adc.c... -compiling stm32f4xx_dac.c... -compiling stm32f4xx_dma.c... -compiling stm32f4xx_dcmi.c... compiling misc.c... -compiling stm32f4xx_cryp_des.c... -compiling stm32f4xx_dfsdm.c... -compiling stm32f4xx_flash_ramfunc.c... compiling system_stm32f4xx.c... +compiling stm32f4xx_dcmi.c... +compiling stm32f4xx_adc.c... +compiling stm32f4xx_fsmc.c... compiling stm32f4xx_cryp_tdes.c... compiling stm32f4xx_dsi.c... -compiling stm32f4xx_cryp.c... compiling stm32f4xx_cec.c... -compiling stm32f4xx_fmpi2c.c... -compiling stm32f4xx_dma2d.c... +compiling stm32f4xx_cryp_des.c... +compiling stm32f4xx_dac.c... compiling stm32f4xx_dbgmcu.c... -compiling stm32f4xx_exti.c... +compiling stm32f4xx_dfsdm.c... +compiling stm32f4xx_fmpi2c.c... +compiling stm32f4xx_flash_ramfunc.c... compiling stm32f4xx_crc.c... compiling stm32f4xx_gpio.c... -compiling stm32f4xx_can.c... -compiling stm32f4xx_fsmc.c... +compiling stm32f4xx_exti.c... +compiling stm32f4xx_cryp.c... +compiling stm32f4xx_dma2d.c... +compiling stm32f4xx_dma.c... compiling stm32f4xx_flash.c... +compiling stm32f4xx_can.c... compiling stm32f4xx_cryp_aes.c... compiling stm32f4xx_hash.c... compiling stm32f4xx_hash_md5.c... @@ -61,23 +61,22 @@ compiling stm32f4xx_pwr.c... compiling stm32f4xx_ltdc.c... compiling stm32f4xx_qspi.c... compiling stm32f4xx_rng.c... -compiling stm32f4xx_rcc.c... compiling stm32f4xx_spdifrx.c... -compiling AHRS_middleware.c... -compiling stm32f4xx_sai.c... -compiling TIM.c... -compiling stm32f4xx_sdio.c... -compiling stm32f4xx_wwdg.c... -compiling stm32f4xx_usart.c... -compiling Delay.c... compiling stm32f4xx_syscfg.c... +compiling stm32f4xx_sai.c... +compiling stm32f4xx_rcc.c... +compiling stm32f4xx_sdio.c... compiling stm32f4xx_spi.c... -compiling user_lib.c... +compiling TIM.c... +compiling Delay.c... +compiling stm32f4xx_usart.c... +compiling AHRS_middleware.c... +compiling stm32f4xx_wwdg.c... compiling stm32f4xx_rtc.c... compiling UART.c... +compiling user_lib.c... compiling stm32f4xx_tim.c... compiling MyI2C.c... -compiling CAN.c... compiling WaveFiltering_Kalman_Filtering.c... Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst" was declared but never referenced float pDst,pDst1=1.0f; @@ -86,35 +85,36 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1" Control\WaveFiltering_Kalman_Filtering.c(32): warning: #1-D: last line of file ends without a newline Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors +compiling CAN.c... compiling LED.c... compiling Buzzer.c... compiling IST8310.c... compiling Remote.c... -compiling Laser.c... compiling BMI088.c... +compiling Laser.c... compiling GM6020.c... +compiling M3508.c... compiling LinkCheck.c... compiling M2006.c... compiling Warming.c... -compiling M3508.c... compiling CToC.c... -compiling CloseLoopControl.c... compiling AttitudeAlgorithms.c... +compiling CloseLoopControl.c... +compiling IMUTemperatureControl.c... compiling PID.c... -compiling Keyboard.c... +compiling Gimbal.c... +compiling RefereeSystem.c... compiling Visual.c... CarBody\Visual.c(68): warning: #9-D: nested comment is not allowed UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/ CarBody\Visual.c(165): warning: #1-D: last line of file ends without a newline } CarBody\Visual.c: 2 warnings, 0 errors -compiling IMUTemperatureControl.c... -compiling RefereeSystem.c... -compiling Gimbal.c... +compiling Keyboard.c... compiling main.c... compiling stm32f4xx_it.c... linking... -Program Size: Code=31544 RO-data=1236 RW-data=552 ZI-data=3520 +Program Size: Code=31032 RO-data=1236 RW-data=552 ZI-data=3520 ".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).

Software Packages used:

@@ -127,7 +127,7 @@ Package Vendor: Keil

Collection of Component include folders:

Collection of Component Files used:

-Build Time Elapsed: 00:00:04 +Build Time Elapsed: 00:00:05 diff --git a/云台/云台/Objects/Project.htm b/云台/云台/Objects/Project.htm index e63b2a5..ea823f2 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 10:27:45 2025 +

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

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

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

      __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_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 +417,8 @@ Global Symbols
        [Calls]

        • >>   __aeabi_llsr
        • >>   __aeabi_llsl
        -
        [Called By]
        • >>   _printf_core -
        • >>   _fp_digits +
          [Called By]
          • >>   _printf_core +
          • >>   _fp_digits
          • >>   __aeabi_ldivmod
          @@ -430,11 +430,11 @@ 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 +450,7 @@ 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 +464,24 @@ 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 +490,7 @@ 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 +498,13 @@ 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 +521,16 @@ 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 +539,7 @@ Global Symbols

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

                [Called By]
                • >>   AHRS_init
                • >>   quat_normalization -
                • >>   accel_update_kp_ki +
                • >>   accel_update_kp_ki
                • >>   accel_comple_filter
                @@ -754,7 +754,7 @@ 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 +765,7 @@ 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 +855,7 @@ 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 +914,7 @@ Global Symbols


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

          [Called By]
          • >>   CToC_MasterSendData
          • >>   CToC_MasterSendControl -
          • >>   M2006_CANSetHIDCurrent +
          • >>   M2006_CANSetHIDCurrent
          • >>   GM6020_CAN2SetLIDVoltage
          • >>   M3508_CANSetLIDCurrent
          @@ -984,7 +984,7 @@ 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 +997,36 @@ 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 +1045,12 @@ 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 +1135,8 @@ 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 +1152,48 @@ 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 +1202,8 @@ 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)) @@ -1237,36 +1237,26 @@ Global Symbols
                  [Called By]

                  • >>   CloseLoopControl_Init
                  -

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

                  Gimbal_MoveControl (Thumb, 16 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 -
                  • >>   Gimbal_PitchControl +
                    [Calls]
                    • >>   Gimbal_YawControl +
                    • >>   Gimbal_Rammer
                    • >>   Gimbal_FiringMechanismControl

                    [Called By]
                    • >>   TIM6_DAC_IRQHandler
                    -

                    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 -
                    • >>   kalmanFilter -
                    -
                    [Called By]
                    • >>   Gimbal_MoveControl -
                    - -

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

                    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 +
                    • >>   M2006_CANSetHIDCurrent

                    [Called By]
                    • >>   Gimbal_MoveControl
                    -

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

                    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 @@ -1289,25 +1279,25 @@ 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
                            @@ -1322,134 +1312,134 @@ 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
                                                                      @@ -1459,7 +1449,7 @@ 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
                                                                        @@ -1467,12 +1457,12 @@ 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 @@ -1500,7 +1490,7 @@ 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 @@ -1517,14 +1507,14 @@ 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)) @@ -1544,202 +1534,202 @@ 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
                                                                                                                            @@ -1752,33 +1742,32 @@ 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 -
                                                                                                                          • >>   Gimbal_PitchControl +

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

                                                                                                                            PID_PositionClean (Thumb, 18 bytes, Stack size 0 bytes, pid.o(i.PID_PositionClean)) @@ -1812,102 +1801,102 @@ 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 @@ -1917,7 +1906,7 @@ 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 @@ -1981,17 +1970,17 @@ 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
                                                                                                                                                    @@ -2000,30 +1989,30 @@ 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)
                                                                                                                                                          @@ -2032,19 +2021,19 @@ 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 @@ -2054,7 +2043,7 @@ 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 @@ -2062,10 +2051,10 @@ 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 @@ -2076,18 +2065,18 @@ 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)) @@ -2104,29 +2093,29 @@ 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 @@ -2135,14 +2124,14 @@ 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 @@ -2151,58 +2140,58 @@ 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
                                                                                                                                                                          -

                                                                                                                                                                          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) @@ -2210,19 +2199,19 @@ 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 @@ -2230,65 +2219,65 @@ 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_Trans (Thumb, 274 bytes, Stack size 0 bytes, visual.o(i.Visual_Trans))

                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                          • >>   main
                                                                                                                                                                                                          • >>   USART1_IRQHandler
                                                                                                                                                                                                          @@ -2296,8 +2285,8 @@ 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
                                                                                                                                                                                                            @@ -2311,44 +2300,44 @@ 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 @@ -2356,51 +2345,51 @@ 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 @@ -2409,12 +2398,12 @@ 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
                                                                                                                                                                                                                                @@ -2422,10 +2411,10 @@ 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
                                                                                                                                                                                                                                  @@ -2433,10 +2422,10 @@ 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
                                                                                                                                                                                                                                    @@ -2444,12 +2433,12 @@ 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
                                                                                                                                                                                                                                      @@ -2457,48 +2446,48 @@ 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 @@ -2506,7 +2495,7 @@ 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 @@ -2515,36 +2504,35 @@ 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]

                                                                                                                                                                                                                                            • >>   Gimbal_PitchControl -
                                                                                                                                                                                                                                            • >>   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

                                                                                                                                                                                                                                              main (Thumb, 124 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_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
                                                                                                                                                                                                                                                  @@ -2552,7 +2540,7 @@ 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 @@ -2562,24 +2550,24 @@ 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
                                                                                                                                                                                                                                                      @@ -2605,37 +2593,37 @@ 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 2488c6c..a74874a 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)(0x67E27657) +I (.\User\Parameter.h)(0x690830AB) 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)(0x67E27609)(--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)(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) 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)(0x67E27657) +I (.\User\Parameter.h)(0x690830AB) I (.\Control\PID.h)(0x6503C236) I (.\Hardware\Remote.h)(0x669D1538) I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) @@ -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)(0x67E27657) +I (User\Parameter.h)(0x690830AB) 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)(0x67E27657)() +F (.\User\Parameter.h)(0x690830AB)() 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 ee0923b9b31fb547aaa1b2dd9ba4ef253a3bb410..656f8a644d940966034179316ee180d914fec159 100644 GIT binary patch delta 49 ycmeykUi#yD=?yY$T&o{0IKjpM1h&m;Z0%}nj6lo;#LPg<0>rG_)!5ihUjzV{8xBkW delta 49 ycmeykUi#yD=?yY$T-V=p?q_2F0<~r}wsti(Mj&PaVrC#_0bGy!fS47C b*|wi!XLn=eWM{Y^W6;B>z&2fpm)!#ZQEwb% delta 89 zcmaDlOXk%qnGLsCxvszI+|R}U1Zta~us&eq>V)wln$NMfpJQhPVkRJF24WT)#$^ diff --git a/云台/云台/Objects/main.crf b/云台/云台/Objects/main.crf index 86cbf0608a1401794d58e47a2f678a29165d631e..6d428fe82510ff3137ba836422355b3cc2af435c 100644 GIT binary patch delta 53 zcmX?fR_4%InGM>UT&o{0IKjpM1gD!#IonM+8G)Dyh?#+y1&CRJm~Fc$Cws3f0Osot ABme*a delta 53 zcmX?fR_4%InGM>UT-V=p?q_2Ff-TLaob9HZj6lo;#LPg<0>rF9%(mT>lf73K0O$A* ABme*a diff --git a/云台/云台/Project.uvguix.LSMushui b/云台/云台/Project.uvguix.LSMushui index 20a79fe..f4d5ce4 100644 --- a/云台/云台/Project.uvguix.LSMushui +++ b/云台/云台/Project.uvguix.LSMushui @@ -6,7 +6,7 @@

                                                                                                                                                                                                                                                                ### uVision Project, (C) Keil Software
                                                                                                                                                                                                                                                                - + C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\云台\云台 @@ -110,8 +110,8 @@ 0 - 724 - 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583 @@ -1862,43 +1862,25 @@ 0 100 - 0 + 3 .\System\CAN.c - 112 + 2 1 - 15 - 1 - - 0 - - - .\Function\Warming.c - 38 - 97 - 113 + 19 1 0 .\User\main.c - 8 + 12 25 38 1 0 - - .\Function\LinkCheck.c - 0 - 1 - 1 - 1 - - 0 - .\Hardware\Buzzer.c 0 @@ -1908,6 +1890,42 @@ 0 + + .\User\Parameter.h + 48 + 3 + 5 + 1 + + 0 + + + .\CarBody\Gimbal.c + 49 + 179 + 190 + 1 + + 0 + + + .\Function\AttitudeAlgorithms.c + 0 + 1 + 1 + 1 + + 0 + + + .\Function\AttitudeAlgorithms.h + 0 + 1 + 1 + 1 + + 0 + diff --git a/云台/云台/Project.uvoptx b/云台/云台/Project.uvoptx index d4dc654..41a0b97 100644 --- a/云台/云台/Project.uvoptx +++ b/云台/云台/Project.uvoptx @@ -2098,7 +2098,7 @@ CarBody - 0 + 1 0 0 0 diff --git a/云台/云台/User/Parameter.h b/云台/云台/User/Parameter.h index 0fe1608..52c0282 100644 --- a/云台/云台/User/Parameter.h +++ b/云台/云台/User/Parameter.h @@ -2,7 +2,7 @@ #define __PARAMETER_H /*=============================================结构参数=============================================*/ -#define Yaw_GM6020PositionValue 1000//Yaw轴编码器值4050 +#define Yaw_GM6020PositionValue 6200////Yaw轴回正时编码器值 #define Pitch_GM6020PositionValue 3245//Pitch轴编码器值 #define Pitch_GM6020PositionLowerLinit 7363//Pitch轴编码器值下限7363 #define Pitch_GM6020PositionUpperLinit 8625//Pitch轴编码器值上限433 8625 diff --git a/底盘/底盘/CarBody/Mecanum.c b/底盘/底盘/CarBody/Mecanum.c index fe56576..1ef4c2f 100644 --- a/底盘/底盘/CarBody/Mecanum.c +++ b/底盘/底盘/CarBody/Mecanum.c @@ -58,7 +58,7 @@ void Mecanum_Init(void) //Raw Code// //PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8); //Testing Code// - PID_PositionSetParameter(&Mecanum_TrackPID,0.00,0,0); + PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,01);//随便写的PID值，勉强可以用 PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1); PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4); @@ -172,9 +172,9 @@ void Mecanum_PowerMoveControl(void) } //Raw Code// - //int16_t Raw_Theta=Yaw_GM6020PositionValue-GM6020_MotorStatus[0].Angle;//获取底盘云台相对角度原始数据 + int16_t 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zTo5bA{-O5S|(lQO>zf4k|w`qk}qU0h= zZ==FuCom|>_=lA-mP6wf5_VZX=SM0Hlx6>owFV@PHWo0P01)MFe)1_c%t>n_89~7)h2ylvdnQ> zQ?8tY`<`Z>jeJG^&A|MPex2t}CMwMXEVP~02!y|=w9ty)Rz{(BXBs1_i3*+# znHff>itK;>p)=0!Q%0l53pC$*$_|HZW-(Xol=jX+r5uH4W^)OrwA91O^LAUI?&6fT z^{BGICc-~g25_$&6k*5l_+(*zVZNTyT79lOXSexgqNb;{WnUM4B9t}~kbg0h__PH&?IrQa)W+ih9JA~zm>l*`HikpAqU0s&>YP0M#G zcaRO!P_J>3qAav&@mG~WWcST94Re0w$(_+FgGb?%_H&)G)s9aMPv1}k&){M`d2h3O zn@wD5Rzk)54tEQ2UUv5pwRU%tBcrGwQ@iSLf90^Db$T(|Jnjm3#JXa1OiQ-_VvzI# zwnVu1VQQu8ZSN87-p`|yZkYZ%&iw{3O`mE175(Df{emXtS+9GSO~zk9O4VXrlKU=v zG&z&xPNerlQfw@lHGZ~H_s-%`XH q+~o4hE-6k>vO7Y2*2x_%zXy&K7dp8Uqfg*uVlywd<_`Software Packages used: @@ -108,7 +108,7 @@ Package Vendor: Keil

                                                                                                                                                                                                                                                                Collection of Component include folders:

                                                                                                                                                                                                                                                                Collection of Component Files used:

                                                                                                                                                                                                                                                                -Build Time Elapsed: 00:00:04 +Build Time Elapsed: 00:00:05 diff --git a/底盘/底盘/Objects/Project.htm b/底盘/底盘/Objects/Project.htm index 1d64189..724fea3 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

                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sun Nov 02 21:32:48 2025 +

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

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

                                                                                                                                                                                                                                                                Call chain for Maximum Stack Depth:

                                                                                                                                                                                                                                                                @@ -934,7 +934,7 @@ Global Symbols
                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                • >>   CloseLoopControl_Init
                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                Mecanum_PowerMoveControl (Thumb, 1994 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl)) +

                                                                                                                                                                                                                                                                Mecanum_PowerMoveControl (Thumb, 2004 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))

                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                • Max Depth = 224
                                                                                                                                                                                                                                                                • Call Chain = Mecanum_PowerMoveControl ⇒ Mecanum_ControlSpeed ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round

                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                • >>   Ultra_CAP_SetPower diff --git a/底盘/底盘/Objects/Project_Target 1.dep b/底盘/底盘/Objects/Project_Target 1.dep index 41c8b4a..3d96e36 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)(0x69075D3E)(--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)(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) 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)(0x68F1C524) +I (.\User\Parameter.h)(0x690830C8) I (CarBody\RefereeSystem.h)(0x66A104BA) I (CarBody\Ultra_CAP.h)(0x66A1111C) I (CarBody\Mecanum.h)(0x66A1C558) @@ -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)(0x68F1C524) +I (User\Parameter.h)(0x690830C8) 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)(0x68F1C524)() +F (.\User\Parameter.h)(0x690830C8)() 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 c709cc754fda6101751ed99138ea0e6acdc6d435..91a5a66e12c21d9cead3f8c4a739ef99fd908a38 100644 GIT binary patch delta 53 zcmdlrOJ>(BnGH%DTqhnbIKjpM1nZi0INEhM7=f4xh?#+y1&CRJm~Fcb2Rk1t0LR)5 Ay#N3J delta 53 zcmdlrOJ>(BnGH%DTuZu+A7^6#0_J8Nj&>amMj&PaVrC#_0b*7lX4|gA!Oq7D0HWy( Ay#N3J diff --git a/底盘/底盘/Objects/mecanum.crf b/底盘/底盘/Objects/mecanum.crf index 4b2a1783e9e721c2d3d602cb144e2fbf56ce1d54..1565915782a141b5d0723ef3bd5e28095eb96e29 100644 GIT binary patch delta 2879 zcmai0X>3(h5WaKXZLf6U6|hC2$_W8V>l+gJp(v6Pl?cibOpKxL9)ZXbiwh(Mci)35 z$WqW?y@0Gj0coMoT1&B@V6|n5h>@UN6)Iu?aRF2`ar@@-9&NRWgm2EwoS8Z2omp<1 z>vNCP=WeS`O>1sh)0}GIpI*|CIy>#}&k|x$$#7@xaEAZ|gzAPn_P$?Y(KvBi%poWO zGFLbuv;8}*dBiV?9FTd!1*A&2eJV-z3m1?B!Ug1@a6<0#$6E6#bgQGXcj^<12$WueLHEM z3QZ|Ak9g5k5AV}~Q!Sse2y!zr>K zkJI1Y_zb5ew};gd?bk(f6%jWk@FiAYg;$X2^t^F5q$c1na1=NJoFy`Tj&&;9FI)fH zZKgLf)6v83u+BvL^}r91$PyzNJ-N1xnK)5S4UjnFf_F62IX|MD=sG{mn(gM{-PRN3 zLMUu~`bRJ?x_RmP9Bwwp&CAfiu?G-RuKf+sF|SM5c|Kb%1I=MX zDRc9#)BFd~>)!gXqx&N`<1~pIIE!gAKq81(uky}?ov|4YC?2nPg5rs4u{R>idH#lJ z#E*vfu@FxW@r)2ZPObl&5$Y451^A9=f8B*FXENDC;l;8dEkZ)#jAZN z6?RC-aUrKcru&ZdsoVeNICb`WT1Nto@4@CsU=%PK7!#+iUbvfceIF?>DLW}EDWoQe 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0300000066000000D2000000D3020000 + 0300000066000000D20000008B020000 16 @@ -170,7 +170,7 @@ 0 16 - 0300000066000000D2000000D3020000 + 0300000066000000D20000008B020000 16 @@ -450,7 +450,7 @@ 0 16 - 0300000066000000D2000000D3020000 + 0300000066000000D20000008B020000 16 @@ -470,7 +470,7 @@ 0 16 - 0300000066000000D2000000D3020000 + 0300000066000000D20000008B020000 16 @@ -490,7 +490,7 @@ 0 16 - 0000000004030000AB0600006E030000 + 00000000BC02000080070000E6030000 16 @@ -530,7 +530,7 @@ 0 16 - 0300000007030000A806000055030000 + 03000000BF0200007D0700000D030000 16 @@ -1150,7 +1150,7 @@ 0 16 - 0300000066000000D2000000D3020000 + 0300000066000000D20000004B030000 16 @@ -1170,7 +1170,7 @@ 0 16 - 0300000007030000A806000055030000 + 03000000BF0200007D0700000D030000 16 @@ -1190,7 +1190,7 @@ 0 16 - 0300000007030000A806000055030000 + 03000000BF0200007D0700000D030000 16 @@ -1250,7 +1250,7 @@ 0 16 - 0300000007030000A806000055030000 + 03000000BF0200007D0700000D030000 16 @@ -1270,7 +1270,7 @@ 0 16 - 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583 @@ -1851,8 +1851,8 @@ 0 - 1707 - 960 + 1920 + 1080 @@ -1862,12 +1862,12 @@ 0 100 - 0 + 2 .\CarBody\Mecanum.c - 0 - 1 - 1 + 48 + 31 + 61 1 0 @@ -1881,6 +1881,15 @@ 0 + + .\User\Parameter.h + 48 + 1 + 5 + 1 + + 0 + diff --git a/底盘/底盘/Project.uvoptx b/底盘/底盘/Project.uvoptx index 0796aae..d5c605a 100644 --- a/底盘/底盘/Project.uvoptx +++ b/底盘/底盘/Project.uvoptx @@ -1767,7 +1767,7 @@ Control - 1 + 0 0 0 0 @@ -1799,7 +1799,7 @@ CarBody - 1 + 0 0 0 0 @@ -1975,7 +1975,7 @@ User - 0 + 1 0 0 0 diff --git a/底盘/底盘/User/Parameter.h b/底盘/底盘/User/Parameter.h index 430c76f..688da78 100644 --- a/底盘/底盘/User/Parameter.h +++ b/底盘/底盘/User/Parameter.h @@ -2,7 +2,7 @@ #define __PARAMETER_H /*=============================================结构参数=============================================*/ -#define Yaw_GM6020PositionValue 4050//Yaw轴编码器值 +#define Yaw_GM6020PositionValue 6200//Yaw轴回正时编码器值 /*=============================================麦轮参数=============================================*/ #define Mecanum_WheelRadius 7.0f//麦轮半径(单位cm)