diff --git a/云台/云台/.vscode/c_cpp_properties.json b/云台/云台/.vscode/c_cpp_properties.json index 50649d4..5f9c566 100644 --- a/云台/云台/.vscode/c_cpp_properties.json +++ b/云台/云台/.vscode/c_cpp_properties.json @@ -104,23 +104,19 @@ { "name": "Target 1", "includePath": [ - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Start", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Library", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\System", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Algorithm", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\AHRS", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Hardware", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Motor", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Function", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Control", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\CarBody", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\User", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Start", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Library", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\System", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Algorithm", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\AHRS", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Hardware", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Motor", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Function", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Control", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\CarBody", + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\User", "C:\\Keil_v5\\ARM\\ARMCC\\include", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux_compat", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\libcxx", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\rw", - "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Carbody" + "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Carbody" ], "defines": [ "USE_STDPERIPH_DRIVER", diff --git a/云台/云台/.vscode/keil-assistant.log b/云台/云台/.vscode/keil-assistant.log index 17f8f16..f66790c 100644 --- a/云台/云台/.vscode/keil-assistant.log +++ b/云台/云台/.vscode/keil-assistant.log @@ -44,54 +44,25 @@ [info] Log at : 2025/3/20|20:26:40|GMT+0800 -[info] Log at : 2025/3/22|15:46:52|GMT+0800 +[info] Log at : 2025/3/22|12:17:57|GMT+0800 -[info] Log at : 2025/3/22|16:15:12|GMT+0800 +[info] Log at : 2025/3/22|12:37:14|GMT+0800 -[info] Log at : 2025/3/24|18:46:58|GMT+0800 +[info] Log at : 2025/3/22|12:53:27|GMT+0800 -[info] Log at : 2025/3/28|08:24:37|GMT+0800 +[info] Log at : 2025/3/22|14:09:33|GMT+0800 -[info] Log at : 2025/3/28|09:37:26|GMT+0800 +[info] Log at : 2025/3/22|14:34:08|GMT+0800 -[info] Log at : 2025/8/28|13:01:35|GMT+0800 +[info] Log at : 2025/3/22|20:24:14|GMT+0800 -[info] Log at : 2025/8/28|13:01:51|GMT+0800 +[info] Log at : 2025/3/22|22:13:18|GMT+0800 -[info] Log at : 2025/8/28|13:03:13|GMT+0800 +[info] Log at : 2025/3/23|11:41:32|GMT+0800 -[info] Log at : 2025/8/28|13:06:37|GMT+0800 +[info] Log at : 2025/3/25|13:02:16|GMT+0800 -[info] Log at : 2025/8/28|13:06:48|GMT+0800 +[info] Log at : 2025/3/26|21:46:15|GMT+0800 -[info] project closed: Project -[info] Log at : 2025/8/28|13:07:02|GMT+0800 - -[info] Log at : 2025/9/8|10:14:46|GMT+0800 - -[info] Log at : 2025/9/9|09:50:46|GMT+0800 - -[info] Log at : 2025/9/28|11:25:03|GMT+0800 - -[info] Log at : 2025/9/28|11:29:55|GMT+0800 - -[info] Log at : 2025/9/28|12:39:11|GMT+0800 - -[info] Log at : 2025/9/28|22:04:17|GMT+0800 - -[info] Log at : 2025/9/29|17:48:30|GMT+0800 - -[info] Log at : 2025/10/10|19:26:28|GMT+0800 - -[info] Log at : 2025/10/12|18:40:18|GMT+0800 - -[info] Log at : 2025/10/12|18:56:08|GMT+0800 - -[info] Log at : 2025/10/13|18:00:15|GMT+0800 - -[info] Log at : 2025/10/17|11:44:07|GMT+0800 - -[info] Log at : 2025/10/21|19:47:42|GMT+0800 - -[info] Log at : 2025/10/23|09:40:31|GMT+0800 +[info] Log at : 2025/3/26|23:03:09|GMT+0800 diff --git a/云台/云台/.vscode/uv4.log b/云台/云台/.vscode/uv4.log index 7e20ba0..c9d8a4f 100644 --- a/云台/云台/.vscode/uv4.log +++ b/云台/云台/.vscode/uv4.log @@ -1,3 +1,3 @@ -Load "f:\\\\V1.0\\new-infantry\\̨\\̨\\Objects\\Project.axf" +Load "f:\\Mas_Infantry_Control-main\\Դ\\V1.0\\Hero\\̨\\̨\\Objects\\Project.axf" Erase Done.Programming Done.Verify OK.Application running ... -Flash Load finished at 13:07:26 +Flash Load finished at 17:24:51 diff --git a/云台/云台/.vscode/uv4.log.lock b/云台/云台/.vscode/uv4.log.lock index 1ffe7fd..9b4c754 100644 --- a/云台/云台/.vscode/uv4.log.lock +++ b/云台/云台/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/10/23 13:07:27 \ No newline at end of file +2025/3/25 17:24:51 \ No newline at end of file diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c index 0448be1..3ab56f8 100644 --- a/云台/云台/CarBody/Gimbal.c +++ b/云台/云台/CarBody/Gimbal.c @@ -18,16 +18,19 @@ KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体 #define Gimbal_YawMotor GM6020_1//Yaw轴电机 #define Gimbal_PitchMotor GM6020_2//Pitch轴电机 -#define Gimbal_L_FrictionWheel M3508_1//左摩擦轮 -#define Gimbal_R_FrictionWheel M3508_2//右摩擦轮 +#define Gimbal_L1_FrictionWheel M3508_1//左摩擦轮 +#define Gimbal_R1_FrictionWheel M3508_2//右摩擦轮 +#define Gimbal_L2_FrictionWheel M3508_3//左摩擦轮 +#define Gimbal_R2_FrictionWheel M3508_4//右摩擦轮 +#define Gimbal_RammerSpinMotor M3508_7//拨弹盘电机 + uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位 -extern int KP , KI , KD; PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;//Yaw轴GM6020电机PID PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID -PID_PositionInitTypedef Gimbal_L_FrictionWheelPID,Gimbal_R_FrictionWheelPID;//摩擦轮转速PID +PID_PositionInitTypedef Gimbal_L2_FrictionWheelPID,Gimbal_R2_FrictionWheelPID,Gimbal_L1_FrictionWheelPID,Gimbal_R1_FrictionWheelPID;//摩擦轮转速PID PID_PositionInitTypedef Gimbal_RammerSpinSpeedPID;//拨弹盘旋转PID /* @@ -42,7 +45,6 @@ void Gimbal_Init(void) PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,140,0,0); PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1); PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200); - PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200); PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,1000,0,1); PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1); @@ -52,45 +54,53 @@ void Gimbal_Init(void) PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,6,0,0); PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1); PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150); - PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150); PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,0); PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-5,5); PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000); */ PID_PositionStructureInit(&Gimbal_YawAnglePositionPID,0);//Yaw轴陀螺仪闭环 - PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,8,0,40); + PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,5,0,0.1); PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1); PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200); - PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200); - PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,300,0.1,150); - PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-5,5); - PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000); + PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,150,0,20); + PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1); + PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000); PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环 - PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,15,0,0); + PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,5,0,0); PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1); PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150); - PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150); - PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,140,0,10); - PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-5,5); - PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-500000,500000); + PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,10); + PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0,0); + PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000); - PID_PositionStructureInit(&Gimbal_L_FrictionWheelPID,0);//左摩擦轮 - PID_PositionSetParameter(&Gimbal_L_FrictionWheelPID,16,0,30); - PID_PositionSetEkRange(&Gimbal_L_FrictionWheelPID,-5,5); - PID_PositionSetOUTRange(&Gimbal_L_FrictionWheelPID,-15000,15000); - PID_PositionStructureInit(&Gimbal_R_FrictionWheelPID,0);//右摩擦轮 - PID_PositionSetParameter(&Gimbal_R_FrictionWheelPID,16,0,30); - PID_PositionSetEkRange(&Gimbal_R_FrictionWheelPID,-5,5); - PID_PositionSetOUTRange(&Gimbal_R_FrictionWheelPID,-15000,15000); + PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮 + PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,0.1,0,0); + PID_PositionSetEkRange(&Gimbal_L1_FrictionWheelPID,-5,5); + PID_PositionSetOUTRange(&Gimbal_L1_FrictionWheelPID,-15000,15000); - PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,-Gimbal_RammerSpeed);//拨弹盘 - PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,16,0,0); + PID_PositionStructureInit(&Gimbal_R1_FrictionWheelPID,0);//右摩擦轮 + PID_PositionSetParameter(&Gimbal_R1_FrictionWheelPID,0.1,0,0); + PID_PositionSetEkRange(&Gimbal_R1_FrictionWheelPID,-5,5); + PID_PositionSetOUTRange(&Gimbal_R1_FrictionWheelPID,-15000,15000); + + PID_PositionStructureInit(&Gimbal_L2_FrictionWheelPID,0);//左摩擦轮 + PID_PositionSetParameter(&Gimbal_L2_FrictionWheelPID,0.1,0,0); + PID_PositionSetEkRange(&Gimbal_L2_FrictionWheelPID,-5,5); + PID_PositionSetOUTRange(&Gimbal_L2_FrictionWheelPID,-15000,15000); + + PID_PositionStructureInit(&Gimbal_R2_FrictionWheelPID,0);//右摩擦轮 + PID_PositionSetParameter(&Gimbal_R2_FrictionWheelPID,0.1,0,0); + PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-5,5); + PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000); + + PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘 + PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,50,0,0); PID_PositionSetEkRange(&Gimbal_RammerSpinSpeedPID,-20,20); - PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-30000,30000); + PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-2000,2000); @@ -110,8 +120,10 @@ void Gimbal_CleanPID(void) PID_PositionClean(&Gimbal_YawAngleSpeedPID); PID_PositionClean(&Gimbal_PitchAnglePositionPID); PID_PositionClean(&Gimbal_PitchAngleSpeedPID); - PID_PositionClean(&Gimbal_L_FrictionWheelPID); - PID_PositionClean(&Gimbal_R_FrictionWheelPID); + PID_PositionClean(&Gimbal_L1_FrictionWheelPID); + PID_PositionClean(&Gimbal_R1_FrictionWheelPID); + PID_PositionClean(&Gimbal_L2_FrictionWheelPID); + PID_PositionClean(&Gimbal_R2_FrictionWheelPID); PID_PositionClean(&Gimbal_RammerSpinSpeedPID); } @@ -127,37 +139,29 @@ void Gimbal_CleanPID(void) */ void Gimbal_PitchControl(void) { - float use_pitch=0,use_yaw=0,lastpitch=0,lastyaw=0; if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度 if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit) Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况 else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && AttitudeAlgorithms_DegRollPitch_GM6020PositionUpperLinit && Visual_Pitch>0) - - Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)use_pitch-lastpitch; - if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].PositionPitch_GM6020PositionUpperLinit && Visual_Pitch>0) + Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)Visual_Pitch; + if((GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position-1000) 65534 || Gimbal_YawAngleSpeedPID.OUT < -65534) - //PID_PositionClean(&Gimbal_YawAngleSpeedPID); - - GM6020_CAN2SetLIDVoltage(Gimbal_YawAngleSpeedPID.OUT,0,0,0); } @@ -223,20 +221,24 @@ void Gimbal_FiringMechanismControl(void) { if(((Remote_RxData.Remote_LS==1 && RefereeSystem_Status==0) || PC_FrictionWheel==1) && RefereeSystem_ShooterStatus==1)//摩擦轮开 { - Gimbal_L_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed; + Gimbal_L1_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed; +Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=- Gimbal_FrictionWheelSpeed; Laser_ON();//开激光 Gimbal_FrictionWheelFlag=1; } else//摩擦轮关 { - Gimbal_L_FrictionWheelPID.Need_Value=Gimbal_R_FrictionWheelPID.Need_Value=0; + Gimbal_L1_FrictionWheelPID.Need_Value=Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_R2_FrictionWheelPID.Need_Value=0; Laser_OFF();//关激光 Gimbal_FrictionWheelFlag=0; } - PID_PositionCalc(&Gimbal_L_FrictionWheelPID,M3508_MotorStatus[Gimbal_L_FrictionWheel-0x201].RotorSpeed); - PID_PositionCalc(&Gimbal_R_FrictionWheelPID,M3508_MotorStatus[Gimbal_R_FrictionWheel-0x201].RotorSpeed); - M3508_CANSetLIDCurrent(Gimbal_L_FrictionWheelPID.OUT,Gimbal_R_FrictionWheelPID.OUT,0,0); + PID_PositionCalc(&Gimbal_L1_FrictionWheelPID,M3508_MotorStatus[Gimbal_L1_FrictionWheel-0x201].RotorSpeed); + PID_PositionCalc(&Gimbal_R1_FrictionWheelPID,M3508_MotorStatus[Gimbal_R1_FrictionWheel-0x201].RotorSpeed); + PID_PositionCalc(&Gimbal_L2_FrictionWheelPID,M3508_MotorStatus[Gimbal_L2_FrictionWheel-0x201].RotorSpeed); + PID_PositionCalc(&Gimbal_R2_FrictionWheelPID,M3508_MotorStatus[Gimbal_R2_FrictionWheel-0x201].RotorSpeed); + M3508_CANSetLIDCurrent(Gimbal_L1_FrictionWheelPID.OUT,Gimbal_R1_FrictionWheelPID.OUT,Gimbal_L2_FrictionWheelPID.OUT,Gimbal_R2_FrictionWheelPID.OUT); + } /* @@ -258,8 +260,11 @@ void Gimbal_Rammer(void) } else Gimbal_RammerSpinSpeedPID.Need_Value=0; - PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M2006_MotorStatus[6].RotorSpeed); + PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed); M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0); + + //M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0); + //M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0); } @@ -274,12 +279,9 @@ void Gimbal_Rammer(void) */ void Gimbal_MoveControl(void) { - //Raw Code// - //Gimbal_PitchControl();//云台Pitch轴控制 - //Gimbal_YawControl();//云台Yaw轴控制 - //Testing Code// - //暂时关闭云台控制 - + Gimbal_PitchControl();//云台Pitch轴控制 + Gimbal_YawControl();//云台Yaw轴控制 + Gimbal_FiringMechanismControl();//摩擦轮控制 Gimbal_Rammer();//拨弹盘控制 //UART2_Printf("%f,%f,%f,%f\n",Gimbal_PitchAngleSpeedPID.Need_Value,Gimbal_PitchAngleSpeedPID.Now_Value,Gimbal_PitchAnglePositionPID.Now_Value,Gimbal_PitchAnglePositionPID.Need_Value); diff --git a/云台/云台/CarBody/Visual.c b/云台/云台/CarBody/Visual.c index 0c22ab4..f73030d 100644 --- a/云台/云台/CarBody/Visual.c +++ b/云台/云台/CarBody/Visual.c @@ -7,19 +7,12 @@ #include"Delay.h" #include "Buzzer.h" #include "GM6020.h" -#include "PID.h" -#include -#include uint32_t Visual_Time=0;//视觉数据send时间 uint32_t Time_Out=0;//超时时间 uint32_t SystemCoreClock84=84000000; //84M -int KP , KI , KD; -int yaw=0 , pitch=0; -static char dataType; // 存储类型字段（'r'/'b'/'u'） uint8_t USART_RX_BUF[100];//视觉数据jieshou缓冲区 -extern PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID; @@ -68,9 +61,8 @@ void Visual_SendData(void) UART2_SendByte((uint8_t)1); UART2_SendByte((uint8_t)1); */ - //UART2_Printf("%d,%d,%f,%f\n",GM6020_MotorStatus[0].Speed,GM6020_MotorStatus[0].Angle,Gimbal_YawAnglePositionPID.OUT,Gimbal_YawAngleSpeedPID.OUT); + UART2_Printf("%f %d",AttitudeAlgorithms_DegRoll,GM6020_MotorStatus[0].Position); - UART2_Printf("%d,%f,%f\n",Visual_ReceiveFlag,Visual_Yaw,Visual_Pitch); //UART2_SendByte((uint8_t)'\n'); /*if(Visual_ReceiveFlag == 1) UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/ @@ -106,123 +98,11 @@ void USART1_IRQHandler(void) USART_ClearITPendingBit(USART1,USART_IT_RXNE);//清除接收中断标志位 } -void Visual_Trans(void) { - //Visual_Yaw = -(float)yaw; - //Visual_Pitch = -(float)pitch; - - -// 全局变量（需在.h文件中声明） -char Visual_Type = '\0'; // 存储类型（r/b/u） -uint8_t Visual_ReceiveFlag = 0; // 接收完成标志 -// 静态变量（函数内部状态） -static char Visual_RxBuffer[32]; // 接收缓冲区（足够容纳最长帧） -static uint8_t RxState = 0; // 状态机：0-等待#，1-接收数据，2-解析 -static uint8_t RxIndex = 0; // 缓冲区索引 -static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒） - - // 每次调用处理一个UART接收字节（UART2_RxData为当前接收的字节） - uint8_t rx_byte = UART2_RxData; - - // 接收新数据时重置超时计时器 - RxTimeoutTick = 0; - - switch (RxState) { - case 0: // 等待帧头'#'（ASCII：0x23） - if (rx_byte == '#') { - RxState = 1; - RxIndex = 0; - memset(Visual_RxBuffer, 0, sizeof(Visual_RxBuffer)); // 清空缓冲区 - } - break; - - case 1: // 接收有效数据（直到遇到帧尾'*'） - if (rx_byte == '*') { // 帧尾（ASCII：0x2A） - RxState = 2; - } else { - // 限制缓冲区大小，防止溢出（预留1字节给结束符'\0'） - if (RxIndex < sizeof(Visual_RxBuffer) - 1) { - Visual_RxBuffer[RxIndex++] = rx_byte; - } else { - // 缓冲区满，强制复位（防止内存溢出） - RxState = 0; - RxIndex = 0; - } - } - break; - - case 2: // 解析接收的字符串 - { - // 有效数据格式："s r 207 -4"（需包含4个字段） - char *token = strtok(Visual_RxBuffer, " "); // 按空格分割 - uint8_t field_idx = 0; - uint8_t parse_ok = 1; // 解析成功标志 - - char type = '\0'; - - - while (token != NULL && field_idx < 4) { // 只处理前4个字段 - switch (field_idx) { - case 0: // 校验包头's'（ASCII：0x73） - if (strcmp(token, "s") != 0) { - parse_ok = 0; // 包头错误 - } - break; - case 1: // 提取类型（r/b/u） - if (token[0] == 'r' || token[0] == 'b' || token[0] == 'u') { - type = token[0]; - } else { - parse_ok = 0; // 类型错误 - } - break; - case 2: // 转换yaw（字符串→int） - yaw = atoi(token); - break; - case 3: // 转换pitch（字符串→int） - pitch = atoi(token); - - break; - } - token = strtok(NULL, " "); - field_idx++; - } - - - // 解析成功的条件：字段完整且包头/类型正确 - if (parse_ok && field_idx == 4) { - Visual_Type = type; - Visual_GetYaw = yaw; - Visual_GetPitch = pitch; - - // 角度转换（根据实际需求调整系数） - Visual_Yaw = -(float)yaw * 0.03051850947599f; - Visual_Pitch = -(float)pitch * 0.03051850947599f; - - Visual_ReceiveFlag = 1; // 置位完成标志 - } - - // 解析完成，回到初始状态 - RxState = 0; - RxIndex = 0; - } - break; - - default: - // 异常状态复位 - RxState = 0; - RxIndex = 0; - break; - } -} - -/* void Visual_Trans(void){ - - - static int Visual_RxHEXPacket[20]; //char Message[10]; @@ -282,7 +162,4 @@ void Visual_Trans(void){ } } - - -} - */ \ No newline at end of file +} \ No newline at end of file diff --git a/云台/云台/Control/PID.h b/云台/云台/Control/PID.h index 7d74ff9..7d37f58 100644 --- a/云台/云台/Control/PID.h +++ b/云台/云台/Control/PID.h @@ -21,7 +21,6 @@ typedef struct float I_OUT;//积分输出 float D_OUT;//微分输出 float OUT;//总输出 - //double OUT;//总输出 float OUT_low;//输出限幅下限 float OUT_up;//输出限幅上限 }PID_PositionInitTypedef;//位置式PID参数结构体 diff --git a/云台/云台/Function/CToC.c b/云台/云台/Function/CToC.c index a60ea28..e4b0ba7 100644 --- a/云台/云台/Function/CToC.c +++ b/云台/云台/Function/CToC.c @@ -145,8 +145,8 @@ uint8_t CToC_MasterSendControl(void) TxMessage.Data[3]=Remote_RxData.Remote_KeyPush_Shift;//键盘Shift状态 TxMessage.Data[4]=Remote_StartFlag;//遥控器启动标志位 TxMessage.Data[5]=Remote_RxData.Remote_LS;//遥控器左侧拨动开关 - TxMessage.Data[6]=Remote_RxData.Remote_Key_Alpha1; - TxMessage.Data[7]=Remote_RxData.Remote_Key_Alpha2; + TxMessage.Data[6]=0; + TxMessage.Data[7]=0; uint8_t mbox=CAN_Transmit(CAN2,&TxMessage);//发送数据并获取邮箱号 uint16_t i=0; diff --git a/云台/云台/Function/Warming.c b/云台/云台/Function/Warming.c index 17afa0f..d291335 100644 --- a/云台/云台/Function/Warming.c +++ b/云台/云台/Function/Warming.c @@ -12,7 +12,7 @@ /*==================== 报警列表 ==================== 遥控器未连接 ················1s里红灯连闪两下 遥控器数据错误报警 ············红灯常亮 - CAN总线设备连接异常············2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量) + CAN总线设备连接异常············2s内蜂鸣器以高音3响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量) IST8310连接错误 ················绿灯以1s为周期闪烁 BMI088连接错误 ················1s里绿灯连闪两下 陀螺仪温度过高报警 ············绿灯常亮 @@ -100,7 +100,7 @@ void Warming_RemoteDataERROR(void) *参数说明:无 *返回类型:无 *备注:闭环控制TIM6定时更新中断调用,定时2ms - *报警现象:2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量) + *报警现象:2s内蜂鸣器以高音3响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量) */ void Warming_LinkError(void) { @@ -110,7 +110,7 @@ void Warming_LinkError(void) if(i>5) & 0x01;//B[117:117],1bits Remote_RxData.Remote_Key_Q=(Data[14]>>6) & 0x01;//B[118:118],1bits Remote_RxData.Remote_Key_E=(Data[14]>>7) & 0x01;//B[119:119],1bits - Remote_RxData.Remote_Key_Alpha1=(Data[14]>>9) & 0x01;//B[118:118],1bits - Remote_RxData.Remote_Key_Alpha2=(Data[14]>>10) & 0x01;//B[119:119],1bits - Remote_RxData.Remote_ThumbWheel=(int16_t)((uint16_t)Data[17]<<8) | Data[16];//B[120:135],16bits @@ -219,8 +214,6 @@ void Remote_DataProcess(void) if(Remote_RxData.Remote_KeyLast_Shift==0 && Remote_RxData.Remote_Key_Shift==1)Remote_RxData.Remote_KeyPush_Shift=!Remote_RxData.Remote_KeyPush_Shift; if(Remote_RxData.Remote_KeyLast_Ctrl==0 && Remote_RxData.Remote_Key_Ctrl==1)Remote_RxData.Remote_KeyPush_Ctrl=!Remote_RxData.Remote_KeyPush_Ctrl; if(Remote_RxData.Remote_Mouse_KeyLastR==0 && Remote_RxData.Remote_Mouse_KeyR==1)Remote_RxData.Remote_Mouse_KeyPushR=1; - if(Remote_RxData.Remote_KeyLast_Alpha1==0 && Remote_RxData.Remote_Key_Alpha1==1)Remote_RxData.Remote_Key_Alpha1=1; - if(Remote_RxData.Remote_KeyLast_Alpha2==0 && Remote_RxData.Remote_Key_Alpha2==1)Remote_RxData.Remote_Key_Alpha2=1; else Remote_RxData.Remote_Mouse_KeyPushR=0; } diff --git a/云台/云台/Hardware/Remote.h b/云台/云台/Hardware/Remote.h index d0b1692..9a0658a 100644 --- a/云台/云台/Hardware/Remote.h +++ b/云台/云台/Hardware/Remote.h @@ -25,12 +25,6 @@ typedef struct uint8_t Remote_Key_E;//键盘E键,按下为1,未按下为0 uint8_t Remote_Key_Shift;//键盘Shift键,按下为1,未按下为0 uint8_t Remote_Key_Ctrl;//键盘Ctrl键,按下为1,未按下为0 - - uint8_t Remote_Key_Alpha1;//键盘1键,按下为1,未按下为0 - uint8_t Remote_Key_Alpha2;//键盘2键,按下为1,未按下为0 - - uint8_t Remote_KeyLast_Alpha1;//上一次键盘Shift键 - uint8_t Remote_KeyLast_Alpha2;//上一次键盘Ctrl键 uint8_t Remote_Mouse_KeyLastR;//上一次鼠标右键 uint8_t Remote_KeyLast_Q;//上一次键盘Q键 diff --git a/云台/云台/Nu_Link_Driver.ini b/云台/云台/Nu_Link_Driver.ini deleted file mode 100644 index 5876d9a..0000000 --- a/云台/云台/Nu_Link_Driver.ini +++ /dev/null @@ -1,1140 +0,0 @@ -[Version] -Nu_LinkVersion=V5.20 -[Process] -ProcessID=0x00000000 -ProcessCreationTime_L=0x00000000 -ProcessCreationTime_H=0x00000000 -NuLinkID=0x00000000 -DisableFirmwareUpdate=0 -[ChipSelect] -;ChipName= -ChipName=NUC1xx -[NUC505] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=NUC505_SPIFLASH.FLM -[NUC4xx] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=NUC400_AP_512.FLM -TraceConf0=0x00000002 -TraceConf1=0x014fb180 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[NUC2xx] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NUC200_AP_128.FLM -[NUC1311] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NUC1311_AP_64.FLM -[NUC126] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x2000 -ProgramAlgorithm=NUC126_AP_256.FLM -[NUC121] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NUC121_AP_32.FLM -[NUC1xx] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NUC100_AP_128.FLM -[NUC029] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=NUC029_AP_16.FLM -[NM1820] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=NM1820_AP_17_5.FLM -[NM1810] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=NM1810_AP_29_5.FLM -[NM1500] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NM1500_AP_128.FLM -[NM1330] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NM1330_AP_64.FLM -[NM1320] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NM1320_AP_32.FLM -[NM1240] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NM1240_AP_64.FLM -[NM1230] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=NM1230_AP_64.FLM -[NM1200] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=NM1200_AP_8.FLM -[NM1120] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=NM1120_AP_29_5.FLM -[N32F030] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N32F030_AP_64.FLM -[TF5100] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=TF5100_AP_64.FLM -[NDA102] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=NDA102_AP_29_5.FLM -[Nano103] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=Nano103_AP_64.FLM -[Nano100] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=Nano100_AP_64.FLM -[N576] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N576_AP_145.FLM -[N575] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N575_AP_145.FLM -[N574] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N574_AP_512.FLM -[N572] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x2000 -ProgramAlgorithm=N572Fxxx.FLM -[N571] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x2000 -ProgramAlgorithm=N571E000.FLM -[N570] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N570_AP_64.FLM -[N569] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N569_AP_64.FLM -[N512] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=N512_AP_64.FLM -[Mini57] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=Mini57_AP_29_5.FLM -[Mini51] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=Mini51_AP_16.FLM -[M481] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M481_AP_512.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M480LD] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M480LD_AP_256.FLM -[M479] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M479_AP_256.FLM -[M471] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Bank=0 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M471_AP_512.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M460] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Bank=0 -SPIM=0 -SPIMOption=0xAD000000 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x8000 -ProgramAlgorithm=M460_AP_1M.FLM -ProgramAlgorithm1=M460_SPIM_AP_1M.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M451] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M451_AP_256.FLM -[M2354] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Bank=0 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -CheckDPM=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M2354_AP_1M.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M2351] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M2351_AP_512.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M261] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=M261_AP_512.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M251] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x2000 -ProgramAlgorithm=M251_AP_192.FLM -[MR63] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=MR63_AP_512.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -[M071] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x2000 -ProgramAlgorithm=M071_AP_128.FLM -[M0564] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x2000 -ProgramAlgorithm=M0564_AP_256.FLM -[M0519] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=M0519_AP_128.FLM -[M0518] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=M0518_AP_64.FLM -[M05x] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=M0516_AP_64.FLM -[M0A21] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=M0A21_AP_32.FLM -[M030G] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -DisableTimeoutDetect=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=M030G_AP_64.FLM -[M031] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Bank=0 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x800 -ProgramAlgorithm=M031_AP_128.FLM -[NPCX] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=NPCX_AP_512.FLM -[I96000] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -Erase=2 -Program=0 -Verify=0 -ResetAndRun=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x8000 -ProgramAlgorithm= -[I94000] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm=I94000_AP_512.FLM -[I91500] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=I91500_AP_64.FLM -[ISD9300] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=ISD9300_AP_145.FLM -[I9200] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=I9200_AP_128.FLM -[ISD9xxx] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=ISD9100_AP_145.FLM -[ISD9000] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=ISD9000_AP_64.FLM -[AU9xxx] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -FlashSelect=APROM -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableFlashBreakpoint=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x1000 -ProgramAlgorithm=AU9100_AP_145.FLM -[KM1M7] -Connect=0 -Reset=Autodetect -MaxClock=4MHz -MemoryVerify=0 -IOVoltage=5000 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=1 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x00004000 -ProgramAlgorithm=KM1M7AFxxx_I.FLM -ProgramAlgorithm1=KM1M7AFxxx_D.FLM -TraceConf0=0x00000002 -TraceConf1=0x00b71b00 -TraceConf2=0x00000800 -TraceConf3=0x00000000 -TraceConf4=0x00000001 -TraceConf5=0x00000000 -EnableKeyfile=0 -Keycode0=0xFFFFFFFF -Keycode1=0xFFFFFFFF -Keycode2=0xFFFFFFFF -Keycode3=0xFFFFFFFF -[Autodetect] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm= -[General] -Connect=0 -Reset=Autodetect -MaxClock=1MHz -MemoryVerify=0 -IOVoltage=3300 -Erase=1 -Program=1 -Verify=1 -ResetAndRun=0 -EnableLog=0 -MemAccessWhileRun=0 -RAMForAlgorithmStart=0x20000000 -RAMForAlgorithmSize=0x4000 -ProgramAlgorithm= diff --git a/云台/云台/Objects/ExtDll.iex b/云台/云台/Objects/ExtDll.iex deleted file mode 100644 index 6c0896e..0000000 --- a/云台/云台/Objects/ExtDll.iex +++ /dev/null @@ -1,2 +0,0 @@ -[EXTDLL] -Count=0 diff --git a/云台/云台/Objects/Project.axf b/云台/云台/Objects/Project.axf index 138ccd7..beed92a 100644 Binary files a/云台/云台/Objects/Project.axf and b/云台/云台/Objects/Project.axf differ diff --git a/云台/云台/Objects/Project.build_log.htm b/云台/云台/Objects/Project.build_log.htm index 82e67c8..c8df030 100644 --- a/云台/云台/Objects/Project.build_log.htm +++ b/云台/云台/Objects/Project.build_log.htm @@ -21,62 +21,63 @@ Target DLL: CMSIS_AGDI.dll V1.33.24.0 Dialog DLL: TCM.DLL V1.56.6.0

Project:

-C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\̨\̨\Project.uvprojx +C:\Users\LSMushui\Desktop\RM\hero-test\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 misc.c... -compiling stm32f4xx_exti.c... +compiling stm32f4xx_adc.c... compiling stm32f4xx_dac.c... -compiling stm32f4xx_can.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_cryp_tdes.c... compiling stm32f4xx_dsi.c... -compiling stm32f4xx_cryp_aes.c... +compiling stm32f4xx_cryp.c... +compiling stm32f4xx_cec.c... +compiling stm32f4xx_fmpi2c.c... compiling stm32f4xx_dma2d.c... compiling stm32f4xx_dbgmcu.c... -compiling stm32f4xx_cryp.c... -compiling stm32f4xx_dma.c... -compiling stm32f4xx_cec.c... -compiling stm32f4xx_flash_ramfunc.c... -compiling stm32f4xx_cryp_tdes.c... -compiling stm32f4xx_cryp_des.c... -compiling system_stm32f4xx.c... -compiling stm32f4xx_fmpi2c.c... -compiling stm32f4xx_dfsdm.c... -compiling stm32f4xx_dcmi.c... -compiling stm32f4xx_gpio.c... +compiling stm32f4xx_exti.c... compiling stm32f4xx_crc.c... -compiling stm32f4xx_adc.c... +compiling stm32f4xx_gpio.c... +compiling stm32f4xx_can.c... compiling stm32f4xx_fsmc.c... compiling stm32f4xx_flash.c... +compiling stm32f4xx_cryp_aes.c... compiling stm32f4xx_hash.c... compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_hash_sha1.c... -compiling stm32f4xx_lptim.c... compiling stm32f4xx_iwdg.c... compiling stm32f4xx_i2c.c... -compiling stm32f4xx_qspi.c... +compiling stm32f4xx_lptim.c... compiling stm32f4xx_pwr.c... compiling stm32f4xx_ltdc.c... +compiling stm32f4xx_qspi.c... compiling stm32f4xx_rng.c... -compiling stm32f4xx_sdio.c... -compiling stm32f4xx_sai.c... compiling stm32f4xx_rcc.c... compiling stm32f4xx_spdifrx.c... compiling AHRS_middleware.c... -compiling stm32f4xx_syscfg.c... -compiling stm32f4xx_spi.c... +compiling stm32f4xx_sai.c... +compiling TIM.c... +compiling stm32f4xx_sdio.c... compiling stm32f4xx_wwdg.c... compiling stm32f4xx_usart.c... -compiling stm32f4xx_rtc.c... compiling Delay.c... -compiling stm32f4xx_tim.c... +compiling stm32f4xx_syscfg.c... +compiling stm32f4xx_spi.c... compiling user_lib.c... -compiling TIM.c... +compiling stm32f4xx_rtc.c... compiling UART.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; @@ -85,45 +86,36 @@ 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 Remote.c... compiling IST8310.c... +compiling Remote.c... compiling Laser.c... compiling BMI088.c... -compiling LinkCheck.c... compiling GM6020.c... -compiling M3508.c... +compiling LinkCheck.c... compiling M2006.c... -compiling CloseLoopControl.c... compiling Warming.c... -compiling AttitudeAlgorithms.c... +compiling M3508.c... compiling CToC.c... -compiling IMUTemperatureControl.c... -compiling Gimbal.c... +compiling CloseLoopControl.c... +compiling AttitudeAlgorithms.c... compiling PID.c... -compiling RefereeSystem.c... -compiling Visual.c... -CarBody\Visual.c(76): 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(115): warning: #550-D: variable "Visual_Type" was set but never used - char Visual_Type = '\0'; // 存储类型（r/b/u? -CarBody\Visual.c(118): warning: #550-D: variable "Visual_ReceiveFlag" was set but never used - uint8_t Visual_ReceiveFlag = 0; // 接收完成标志 -CarBody\Visual.c(124): warning: #550-D: variable "RxTimeoutTick" was set but never used - static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒? -CarBody\Visual.c(288): warning: #1-D: last line of file ends without a newline - */ -CarBody\Visual.c(19): warning: #177-D: variable "dataType" was declared but never referenced - static char dataType; // 存储类型字段?'r'/'b'/'u'? -CarBody\Visual.c: 6 warnings, 0 errors compiling Keyboard.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 main.c... compiling stm32f4xx_it.c... linking... -Program Size: Code=31024 RO-data=1372 RW-data=576 ZI-data=3344 -".\Objects\Project.axf" - 0 Error(s), 9 Warning(s). +Program Size: Code=31544 RO-data=1236 RW-data=552 ZI-data=3520 +".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).

Software Packages used:

@@ -135,7 +127,7 @@ Package Vendor: Keil

Collection of Component include folders:

Collection of Component Files used:

-Build Time Elapsed: 00:00:05 +Build Time Elapsed: 00:00:04 diff --git a/云台/云台/Objects/Project.htm b/云台/云台/Objects/Project.htm index 01c67e0..e63b2a5 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: Sun Nov 02 21:41:25 2025 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Mon Nov 03 10:27:45 2025

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

Call chain for Maximum Stack Depth:

@@ -121,27 +121,27 @@ 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
-

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

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

[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) @@ -359,665 +359,611 @@ Global Symbols

[Calls]
  • >>   __aeabi_uldivmod
-
[Called By]
  • >>   M3508_CANDataProcess -
  • >>   M2006_CANDataProcess +
    [Called By]
    • >>   M3508_CANDataProcess +
    • >>   M2006_CANDataProcess
    -

    __aeabi_memset (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text)) +

    __aeabi_memset (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

    [Called By]

    • >>   _memset$wrapper
    • >>   __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)) +

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

    [Calls]

    • >>   __aeabi_memset
    -
    [Called By]
    • >>   Visual_Trans + +

      __aeabi_memclr4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) +

      [Called By]

      • >>   AHRS_update
      -

      __aeabi_memclr4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) -

      [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
      -

      strcmp (Thumb, 28 bytes, Stack size 8 bytes, strcmp.o(.text)) -

      [Stack]

      • Max Depth = 8
      • Call Chain = strcmp -
      -
      [Called By]
      • >>   Visual_Trans -
      - -

      strtok (Thumb, 62 bytes, Stack size 16 bytes, strtok.o(.text)) -

      [Stack]

      • Max Depth = 16
      • Call Chain = strtok -
      -
      [Called By]
      • >>   Visual_Trans -
      - -

      atoi (Thumb, 26 bytes, Stack size 16 bytes, atoi.o(.text)) -

      [Stack]

      • Max Depth = 88
      • Call Chain = atoi ⇒ strtol ⇒ _strtoul -
      -
      [Calls]
      • >>   strtol -
      • >>   __aeabi_errno_addr -
      -
      [Called By]
      • >>   Visual_Trans -
      - -

      __aeabi_l2f (Thumb, 44 bytes, Stack size 16 bytes, ffltl.o(.text)) +

      __aeabi_l2f (Thumb, 44 bytes, Stack size 16 bytes, ffltl.o(.text))

      [Stack]

      • Max Depth = 20
      • Call Chain = __aeabi_l2f ⇒ _float_epilogue
      -
      [Calls]
      • >>   _float_epilogue +
        [Calls]
        • >>   _float_epilogue
        -
        [Called By]
        • >>   M3508_CANDataProcess -
        • >>   M2006_CANDataProcess +
          [Called By]
          • >>   M3508_CANDataProcess +
          • >>   M2006_CANDataProcess
          • >>   TIM1_TRG_COM_TIM11_IRQHandler
          -

          __aeabi_f2lz (Thumb, 66 bytes, Stack size 8 bytes, ffixl.o(.text)) +

          __aeabi_f2lz (Thumb, 66 bytes, Stack size 8 bytes, ffixl.o(.text))

          [Stack]

          • Max Depth = 8
          • Call Chain = __aeabi_f2lz
          -
          [Calls]
          • >>   __aeabi_llsl +
            [Calls]
            • >>   __aeabi_llsl
            -
            [Called By]
            • >>   M3508_CANDataProcess -
            • >>   M2006_CANDataProcess +
              [Called By]
              • >>   M3508_CANDataProcess +
              • >>   M2006_CANDataProcess
              -

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

              [Called By]

              • >>   Visual_SendData -
              +

              __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))

                [Stack]

                • Max Depth = 40
                • Call Chain = __aeabi_uldivmod
                -
                [Calls]
                • >>   __aeabi_llsr -
                • >>   __aeabi_llsl +
                  [Calls]
                  • >>   __aeabi_llsr +
                  • >>   __aeabi_llsl
                  -
                  [Called By]
                  • >>   _printf_core -
                  • >>   _fp_digits +
                    [Called By]
                    • >>   _printf_core +
                    • >>   _fp_digits
                    • >>   __aeabi_ldivmod
                    -

                    __aeabi_llsl (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text)) -

                    [Called By]

                    • >>   __aeabi_f2lz -
                    • >>   _double_epilogue +

                      __aeabi_llsl (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text)) +

                      [Called By]

                      • >>   __aeabi_f2lz +
                      • >>   _double_epilogue
                      • >>   __aeabi_uldivmod -
                      • >>   __aeabi_dadd -
                      • >>   __aeabi_d2ulz +
                      • >>   __aeabi_dadd +
                      • >>   __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) -

                      strtol (Thumb, 112 bytes, Stack size 32 bytes, strtol.o(.text)) -

                      [Stack]

                      • Max Depth = 72
                      • Call Chain = strtol ⇒ _strtoul -
                      -
                      [Calls]
                      • >>   _strtoul -
                      • >>   __rt_ctype_table -
                      • >>   __aeabi_errno_addr -
                      -
                      [Called By]
                      • >>   atoi -
                      +

                      __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)) +

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

                      [Stack]

                      • Max Depth = 4
                      • Call Chain = _float_epilogue
                      -
                      [Called By]
                      • >>   __aeabi_l2f +
                        [Called By]
                        • >>   __aeabi_l2f
                        -

                        __aeabi_dadd (Thumb, 322 bytes, Stack size 48 bytes, dadd.o(.text), UNUSED) -

                        [Calls]

                        • >>   __aeabi_lasr -
                        • >>   _double_round -
                        • >>   _double_epilogue -
                        • >>   __aeabi_llsl +

                          __aeabi_dadd (Thumb, 322 bytes, Stack size 48 bytes, dadd.o(.text), UNUSED) +

                          [Calls]

                          • >>   __aeabi_lasr +
                          • >>   _double_round +
                          • >>   _double_epilogue +
                          • >>   __aeabi_llsl
                          -
                          [Called By]
                          • >>   __aeabi_drsub -
                          • >>   __aeabi_dsub -
                          • >>   _fp_digits +
                            [Called By]
                            • >>   __aeabi_drsub +
                            • >>   __aeabi_dsub +
                            • >>   _fp_digits
                            -

                            __aeabi_dsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED) -

                            [Calls]

                            • >>   __aeabi_dadd +

                              __aeabi_dsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED) +

                              [Calls]

                              • >>   __aeabi_dadd
                              -

                              __aeabi_drsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED) -

                              [Calls]

                              • >>   __aeabi_dadd +

                                __aeabi_drsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED) +

                                [Calls]

                                • >>   __aeabi_dadd
                                -

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

                                [Calls]

                                • >>   _double_epilogue +

                                  __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 +

                                      __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 +

                                          __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)) -

                                              [Calls]

                                              • >>   __main_after_scatterload +

                                                [Calls]
                                                • >>   __main_after_scatterload

                                                [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 +

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

                                                  [Called By]

                                                  • >>   _double_epilogue
                                                  • >>   __aeabi_uldivmod -
                                                  • >>   __aeabi_d2ulz +
                                                  • >>   __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 +

                                                    __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) -

                                                    __rt_ctype_table (Thumb, 4 bytes, Stack size 0 bytes, ctype_o.o(.text)) -

                                                    [Called By]

                                                    • >>   strtol +

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

                                                      [Called By]

                                                      • >>   _double_epilogue +
                                                      • >>   __aeabi_ddiv +
                                                      • >>   __aeabi_dadd
                                                      -

                                                      _strtoul (Thumb, 158 bytes, Stack size 40 bytes, _strtoul.o(.text)) -

                                                      [Stack]

                                                      • Max Depth = 40
                                                      • Call Chain = _strtoul +

                                                        _double_epilogue (Thumb, 156 bytes, Stack size 32 bytes, depilogue.o(.text), UNUSED) +

                                                        [Calls]

                                                        • >>   __aeabi_llsr +
                                                        • >>   _double_round +
                                                        • >>   __aeabi_llsl
                                                        -
                                                        [Calls]
                                                        • >>   _chval -
                                                        • >>   __aeabi_errno_addr -
                                                        -
                                                        [Called By]
                                                        • >>   strtol +
                                                          [Called By]
                                                          • >>   __aeabi_dmul +
                                                          • >>   __aeabi_dadd
                                                          -

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

                                                          [Called By]

                                                          • >>   _double_epilogue -
                                                          • >>   __aeabi_ddiv -
                                                          • >>   __aeabi_dadd -
                                                          +

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

                                                          _double_epilogue (Thumb, 156 bytes, Stack size 32 bytes, depilogue.o(.text), UNUSED) -

                                                          [Calls]

                                                          • >>   __aeabi_llsr -
                                                          • >>   _double_round -
                                                          • >>   __aeabi_llsl -
                                                          -
                                                          [Called By]
                                                          • >>   __aeabi_dmul -
                                                          • >>   __aeabi_dadd -
                                                          +

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

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

                                                          [Called By]

                                                          • >>   _strtoul -
                                                          - -

                                                          __decompress (Thumb, 0 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)) +

                                                          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 +
                                                            [Calls]
                                                            • >>   __hardfp_asinf
                                                            -
                                                            [Called By]
                                                            • >>   get_angle -
                                                            • >>   AHRS_init +
                                                              [Called By]
                                                              • >>   get_angle +
                                                              • >>   AHRS_init
                                                              -

                                                              AHRS_atan2f (Thumb, 32 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_atan2f)) +

                                                              AHRS_atan2f (Thumb, 32 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_atan2f))

                                                              [Stack]

                                                              • Max Depth = 48
                                                              • Call Chain = AHRS_atan2f ⇒ __hardfp_atan2f
                                                              -
                                                              [Calls]
                                                              • >>   __hardfp_atan2f +
                                                                [Calls]
                                                                • >>   __hardfp_atan2f
                                                                -
                                                                [Called By]
                                                                • >>   get_angle -
                                                                • >>   AHRS_init +
                                                                  [Called By]
                                                                  • >>   get_angle +
                                                                  • >>   AHRS_init
                                                                  -

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

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

                                                                  [Stack]

                                                                  • Max Depth = 44
                                                                  • Call Chain = AHRS_cosf ⇒ __hardfp_cosf ⇒ __mathlib_rredf2
                                                                  -
                                                                  [Calls]
                                                                  • >>   __hardfp_cosf +
                                                                    [Calls]
                                                                    • >>   __hardfp_cosf
                                                                    -
                                                                    [Called By]
                                                                    • >>   AHRS_init -
                                                                    • >>   angle_to_quat +
                                                                      [Called By]
                                                                      • >>   AHRS_init +
                                                                      • >>   angle_to_quat
                                                                      -

                                                                      AHRS_get_height (Thumb, 12 bytes, Stack size 0 bytes, ahrs_middleware.o(i.AHRS_get_height)) -

                                                                      [Called By]

                                                                      • >>   AHRS_init +

                                                                        AHRS_get_height (Thumb, 12 bytes, Stack size 0 bytes, ahrs_middleware.o(i.AHRS_get_height)) +

                                                                        [Called By]

                                                                        • >>   AHRS_init
                                                                        -

                                                                        AHRS_get_latitude (Thumb, 12 bytes, Stack size 0 bytes, ahrs_middleware.o(i.AHRS_get_latitude)) -

                                                                        [Called By]

                                                                        • >>   AHRS_init +

                                                                          AHRS_get_latitude (Thumb, 12 bytes, Stack size 0 bytes, ahrs_middleware.o(i.AHRS_get_latitude)) +

                                                                          [Called By]

                                                                          • >>   AHRS_init
                                                                          -

                                                                          AHRS_init (Thumb, 626 bytes, Stack size 80 bytes, ahrs.o(i.AHRS_init)) +

                                                                          AHRS_init (Thumb, 626 bytes, Stack size 80 bytes, ahrs.o(i.AHRS_init))

                                                                          [Stack]

                                                                          • Max Depth = 180
                                                                          • Call Chain = AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                                          -
                                                                          [Calls]
                                                                          • >>   AHRS_sinf -
                                                                          • >>   AHRS_invSqrt -
                                                                          • >>   AHRS_get_latitude -
                                                                          • >>   AHRS_get_height -
                                                                          • >>   AHRS_cosf -
                                                                          • >>   AHRS_atan2f -
                                                                          • >>   AHRS_asinf -
                                                                          • >>   angle_to_quat +
                                                                            [Calls]
                                                                            • >>   AHRS_sinf +
                                                                            • >>   AHRS_invSqrt +
                                                                            • >>   AHRS_get_latitude +
                                                                            • >>   AHRS_get_height +
                                                                            • >>   AHRS_cosf +
                                                                            • >>   AHRS_atan2f +
                                                                            • >>   AHRS_asinf +
                                                                            • >>   angle_to_quat
                                                                            -
                                                                            [Called By]
                                                                            • >>   AttitudeAlgorithms_Init +
                                                                              [Called By]
                                                                              • >>   AttitudeAlgorithms_Init
                                                                              -

                                                                              AHRS_invSqrt (Thumb, 36 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_invSqrt)) +

                                                                              AHRS_invSqrt (Thumb, 36 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_invSqrt))

                                                                              [Stack]

                                                                              • Max Depth = 32
                                                                              • Call Chain = AHRS_invSqrt ⇒ __hardfp_sqrtf
                                                                              -
                                                                              [Calls]
                                                                              • >>   __hardfp_sqrtf +
                                                                                [Calls]
                                                                                • >>   __hardfp_sqrtf
                                                                                -
                                                                                [Called By]
                                                                                • >>   AHRS_init -
                                                                                • >>   quat_normalization -
                                                                                • >>   accel_update_kp_ki -
                                                                                • >>   accel_comple_filter +
                                                                                  [Called By]
                                                                                  • >>   AHRS_init +
                                                                                  • >>   quat_normalization +
                                                                                  • >>   accel_update_kp_ki +
                                                                                  • >>   accel_comple_filter
                                                                                  -

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

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

                                                                                  [Stack]

                                                                                  • Max Depth = 52
                                                                                  • Call Chain = AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   __hardfp_sinf +
                                                                                    [Calls]
                                                                                    • >>   __hardfp_sinf
                                                                                    -
                                                                                    [Called By]
                                                                                    • >>   AHRS_init -
                                                                                    • >>   angle_to_quat +
                                                                                      [Called By]
                                                                                      • >>   AHRS_init +
                                                                                      • >>   angle_to_quat
                                                                                      -

                                                                                      AHRS_update (Thumb, 314 bytes, Stack size 136 bytes, ahrs.o(i.AHRS_update)) +

                                                                                      AHRS_update (Thumb, 314 bytes, Stack size 136 bytes, ahrs.o(i.AHRS_update))

                                                                                      [Stack]

                                                                                      • Max Depth = 272
                                                                                      • Call Chain = AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   __aeabi_memclr4 -
                                                                                      • >>   update_w -
                                                                                      • >>   quat_normalization -
                                                                                      • >>   accel_comple_filter +
                                                                                        [Calls]
                                                                                        • >>   __aeabi_memclr4 +
                                                                                        • >>   update_w +
                                                                                        • >>   quat_normalization +
                                                                                        • >>   accel_comple_filter

                                                                                        [Called By]
                                                                                        • >>   TIM1_TRG_COM_TIM11_IRQHandler
                                                                                        -

                                                                                        AttitudeAlgorithms_Init (Thumb, 134 bytes, Stack size 24 bytes, attitudealgorithms.o(i.AttitudeAlgorithms_Init)) +

                                                                                        AttitudeAlgorithms_Init (Thumb, 134 bytes, Stack size 24 bytes, attitudealgorithms.o(i.AttitudeAlgorithms_Init))

                                                                                        [Stack]

                                                                                        • Max Depth = 204
                                                                                        • Call Chain = AttitudeAlgorithms_Init ⇒ AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                                                        -
                                                                                        [Calls]
                                                                                        • >>   NVIC_PriorityGroupConfig -
                                                                                        • >>   NVIC_Init -
                                                                                        • >>   RCC_APB2PeriphClockCmd -
                                                                                        • >>   IST8310_Init -
                                                                                        • >>   BMI088_Init -
                                                                                        • >>   TIM_TimeBaseInit -
                                                                                        • >>   TIM_InternalClockConfig -
                                                                                        • >>   TIM_ITConfig -
                                                                                        • >>   TIM_Cmd -
                                                                                        • >>   TIM_ClearFlag -
                                                                                        • >>   AHRS_init +
                                                                                          [Calls]
                                                                                          • >>   NVIC_PriorityGroupConfig +
                                                                                          • >>   NVIC_Init +
                                                                                          • >>   RCC_APB2PeriphClockCmd +
                                                                                          • >>   IST8310_Init +
                                                                                          • >>   BMI088_Init +
                                                                                          • >>   TIM_TimeBaseInit +
                                                                                          • >>   TIM_InternalClockConfig +
                                                                                          • >>   TIM_ITConfig +
                                                                                          • >>   TIM_Cmd +
                                                                                          • >>   TIM_ClearFlag +
                                                                                          • >>   AHRS_init

                                                                                          [Called By]
                                                                                          • >>   main
                                                                                          -

                                                                                          BMI088_CheckAndCloseDMA (Thumb, 76 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_CheckAndCloseDMA)) +

                                                                                          BMI088_CheckAndCloseDMA (Thumb, 76 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_CheckAndCloseDMA))

                                                                                          [Stack]

                                                                                          • Max Depth = 20
                                                                                          • Call Chain = BMI088_CheckAndCloseDMA ⇒ DMA_GetFlagStatus
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   DMA_GetFlagStatus -
                                                                                          • >>   DMA_Cmd -
                                                                                          • >>   DMA_ClearFlag -
                                                                                          • >>   SPI_I2S_GetFlagStatus +
                                                                                            [Calls]
                                                                                            • >>   DMA_GetFlagStatus +
                                                                                            • >>   DMA_Cmd +
                                                                                            • >>   DMA_ClearFlag +
                                                                                            • >>   SPI_I2S_GetFlagStatus

                                                                                            [Called By]
                                                                                            • >>   EXTI9_5_IRQHandler
                                                                                            • >>   EXTI4_IRQHandler
                                                                                            • >>   DMA2_Stream2_IRQHandler
                                                                                            -

                                                                                            BMI088_Delay_us (Thumb, 74 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_Delay_us)) -

                                                                                            [Called By]

                                                                                            • >>   BMI088_Init +

                                                                                              BMI088_Delay_us (Thumb, 74 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_Delay_us)) +

                                                                                              [Called By]

                                                                                              • >>   BMI088_Init
                                                                                              -

                                                                                              BMI088_Init (Thumb, 868 bytes, Stack size 104 bytes, bmi088.o(i.BMI088_Init)) +

                                                                                              BMI088_Init (Thumb, 868 bytes, Stack size 104 bytes, bmi088.o(i.BMI088_Init))

                                                                                              [Stack]

                                                                                              • Max Depth = 124
                                                                                              • Call Chain = BMI088_Init ⇒ GPIO_PinAFConfig
                                                                                              -
                                                                                              [Calls]
                                                                                              • >>   NVIC_PriorityGroupConfig -
                                                                                              • >>   NVIC_Init -
                                                                                              • >>   DMA_Init -
                                                                                              • >>   DMA_ITConfig -
                                                                                              • >>   DMA_Cmd -
                                                                                              • >>   GPIO_WriteBit -
                                                                                              • >>   GPIO_PinAFConfig -
                                                                                              • >>   GPIO_Init -
                                                                                              • >>   EXTI_Init -
                                                                                              • >>   RCC_APB2PeriphClockCmd -
                                                                                              • >>   RCC_AHB1PeriphClockCmd -
                                                                                              • >>   SYSCFG_EXTILineConfig -
                                                                                              • >>   SPI_Init -
                                                                                              • >>   SPI_I2S_DMACmd -
                                                                                              • >>   SPI_Cmd -
                                                                                              • >>   Warming_BMI088LinkError -
                                                                                              • >>   BMI088_SPI_GyroWriteRegister -
                                                                                              • >>   BMI088_SPI_GyroReadRegister -
                                                                                              • >>   BMI088_SPI_AccelWriteRegister -
                                                                                              • >>   BMI088_SPI_AccelReadRegister -
                                                                                              • >>   BMI088_Delay_us -
                                                                                              • >>   Delay_ms +
                                                                                                [Calls]
                                                                                                • >>   NVIC_PriorityGroupConfig +
                                                                                                • >>   NVIC_Init +
                                                                                                • >>   DMA_Init +
                                                                                                • >>   DMA_ITConfig +
                                                                                                • >>   DMA_Cmd +
                                                                                                • >>   GPIO_WriteBit +
                                                                                                • >>   GPIO_PinAFConfig +
                                                                                                • >>   GPIO_Init +
                                                                                                • >>   EXTI_Init +
                                                                                                • >>   RCC_APB2PeriphClockCmd +
                                                                                                • >>   RCC_AHB1PeriphClockCmd +
                                                                                                • >>   SYSCFG_EXTILineConfig +
                                                                                                • >>   SPI_Init +
                                                                                                • >>   SPI_I2S_DMACmd +
                                                                                                • >>   SPI_Cmd +
                                                                                                • >>   Warming_BMI088LinkError +
                                                                                                • >>   BMI088_SPI_GyroWriteRegister +
                                                                                                • >>   BMI088_SPI_GyroReadRegister +
                                                                                                • >>   BMI088_SPI_AccelWriteRegister +
                                                                                                • >>   BMI088_SPI_AccelReadRegister +
                                                                                                • >>   BMI088_Delay_us +
                                                                                                • >>   Delay_ms
                                                                                                -
                                                                                                [Called By]
                                                                                                • >>   AttitudeAlgorithms_Init +
                                                                                                  [Called By]
                                                                                                  • >>   AttitudeAlgorithms_Init
                                                                                                  -

                                                                                                  BMI088_OpenDMA (Thumb, 68 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_OpenDMA)) +

                                                                                                  BMI088_OpenDMA (Thumb, 68 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_OpenDMA))

                                                                                                  [Stack]

                                                                                                  • Max Depth = 8
                                                                                                  • Call Chain = BMI088_OpenDMA
                                                                                                  -
                                                                                                  [Calls]
                                                                                                  • >>   DMA_SetCurrDataCounter -
                                                                                                  • >>   DMA_GetCmdStatus -
                                                                                                  • >>   DMA_Cmd +
                                                                                                    [Calls]
                                                                                                    • >>   DMA_SetCurrDataCounter +
                                                                                                    • >>   DMA_GetCmdStatus +
                                                                                                    • >>   DMA_Cmd

                                                                                                    [Called By]
                                                                                                    • >>   EXTI9_5_IRQHandler
                                                                                                    • >>   EXTI4_IRQHandler
                                                                                                    • >>   DMA2_Stream2_IRQHandler
                                                                                                    -

                                                                                                    BMI088_ProcessAccelData (Thumb, 140 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_ProcessAccelData)) +

                                                                                                    BMI088_ProcessAccelData (Thumb, 140 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_ProcessAccelData))

                                                                                                    [Called By]

                                                                                                    • >>   DMA2_Stream2_IRQHandler
                                                                                                    -

                                                                                                    BMI088_ProcessGyroData (Thumb, 140 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_ProcessGyroData)) +

                                                                                                    BMI088_ProcessGyroData (Thumb, 140 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_ProcessGyroData))

                                                                                                    [Called By]

                                                                                                    • >>   DMA2_Stream2_IRQHandler
                                                                                                    -

                                                                                                    BMI088_ProcessTemperatureData (Thumb, 72 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_ProcessTemperatureData)) +

                                                                                                    BMI088_ProcessTemperatureData (Thumb, 72 bytes, Stack size 0 bytes, bmi088.o(i.BMI088_ProcessTemperatureData))

                                                                                                    [Called By]

                                                                                                    • >>   DMA2_Stream2_IRQHandler
                                                                                                    -

                                                                                                    BMI088_SPI_AccelReadRegister (Thumb, 156 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_SPI_AccelReadRegister)) +

                                                                                                    BMI088_SPI_AccelReadRegister (Thumb, 156 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_SPI_AccelReadRegister))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 8
                                                                                                    • Call Chain = BMI088_SPI_AccelReadRegister
                                                                                                    -
                                                                                                    [Calls]
                                                                                                    • >>   GPIO_WriteBit -
                                                                                                    • >>   SPI_I2S_SendData -
                                                                                                    • >>   SPI_I2S_ReceiveData -
                                                                                                    • >>   SPI_I2S_GetFlagStatus +
                                                                                                      [Calls]
                                                                                                      • >>   GPIO_WriteBit +
                                                                                                      • >>   SPI_I2S_SendData +
                                                                                                      • >>   SPI_I2S_ReceiveData +
                                                                                                      • >>   SPI_I2S_GetFlagStatus
                                                                                                      -
                                                                                                      [Called By]
                                                                                                      • >>   BMI088_Init +
                                                                                                        [Called By]
                                                                                                        • >>   BMI088_Init
                                                                                                        -

                                                                                                        BMI088_SPI_AccelWriteRegister (Thumb, 114 bytes, Stack size 16 bytes, bmi088.o(i.BMI088_SPI_AccelWriteRegister)) +

                                                                                                        BMI088_SPI_AccelWriteRegister (Thumb, 114 bytes, Stack size 16 bytes, bmi088.o(i.BMI088_SPI_AccelWriteRegister))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 16
                                                                                                        • Call Chain = BMI088_SPI_AccelWriteRegister
                                                                                                        -
                                                                                                        [Calls]
                                                                                                        • >>   GPIO_WriteBit -
                                                                                                        • >>   SPI_I2S_SendData -
                                                                                                        • >>   SPI_I2S_ReceiveData -
                                                                                                        • >>   SPI_I2S_GetFlagStatus +
                                                                                                          [Calls]
                                                                                                          • >>   GPIO_WriteBit +
                                                                                                          • >>   SPI_I2S_SendData +
                                                                                                          • >>   SPI_I2S_ReceiveData +
                                                                                                          • >>   SPI_I2S_GetFlagStatus
                                                                                                          -
                                                                                                          [Called By]
                                                                                                          • >>   BMI088_Init +
                                                                                                            [Called By]
                                                                                                            • >>   BMI088_Init
                                                                                                            -

                                                                                                            BMI088_SPI_GyroReadRegister (Thumb, 114 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_SPI_GyroReadRegister)) +

                                                                                                            BMI088_SPI_GyroReadRegister (Thumb, 114 bytes, Stack size 8 bytes, bmi088.o(i.BMI088_SPI_GyroReadRegister))

                                                                                                            [Stack]

                                                                                                            • Max Depth = 8
                                                                                                            • Call Chain = BMI088_SPI_GyroReadRegister
                                                                                                            -
                                                                                                            [Calls]
                                                                                                            • >>   GPIO_WriteBit -
                                                                                                            • >>   SPI_I2S_SendData -
                                                                                                            • >>   SPI_I2S_ReceiveData -
                                                                                                            • >>   SPI_I2S_GetFlagStatus +
                                                                                                              [Calls]
                                                                                                              • >>   GPIO_WriteBit +
                                                                                                              • >>   SPI_I2S_SendData +
                                                                                                              • >>   SPI_I2S_ReceiveData +
                                                                                                              • >>   SPI_I2S_GetFlagStatus
                                                                                                              -
                                                                                                              [Called By]
                                                                                                              • >>   BMI088_Init +
                                                                                                                [Called By]
                                                                                                                • >>   BMI088_Init
                                                                                                                -

                                                                                                                BMI088_SPI_GyroWriteRegister (Thumb, 114 bytes, Stack size 16 bytes, bmi088.o(i.BMI088_SPI_GyroWriteRegister)) +

                                                                                                                BMI088_SPI_GyroWriteRegister (Thumb, 114 bytes, Stack size 16 bytes, bmi088.o(i.BMI088_SPI_GyroWriteRegister))

                                                                                                                [Stack]

                                                                                                                • Max Depth = 16
                                                                                                                • Call Chain = BMI088_SPI_GyroWriteRegister
                                                                                                                -
                                                                                                                [Calls]
                                                                                                                • >>   GPIO_WriteBit -
                                                                                                                • >>   SPI_I2S_SendData -
                                                                                                                • >>   SPI_I2S_ReceiveData -
                                                                                                                • >>   SPI_I2S_GetFlagStatus +
                                                                                                                  [Calls]
                                                                                                                  • >>   GPIO_WriteBit +
                                                                                                                  • >>   SPI_I2S_SendData +
                                                                                                                  • >>   SPI_I2S_ReceiveData +
                                                                                                                  • >>   SPI_I2S_GetFlagStatus
                                                                                                                  -
                                                                                                                  [Called By]
                                                                                                                  • >>   BMI088_Init +
                                                                                                                    [Called By]
                                                                                                                    • >>   BMI088_Init

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

                                                                                                                    • startup_stm32f40_41xxx.o(RESET)
                                                                                                                    -

                                                                                                                    Buzzer_Init (Thumb, 156 bytes, Stack size 48 bytes, buzzer.o(i.Buzzer_Init)) +

                                                                                                                    Buzzer_Init (Thumb, 156 bytes, Stack size 48 bytes, buzzer.o(i.Buzzer_Init))

                                                                                                                    [Stack]

                                                                                                                    • Max Depth = 68
                                                                                                                    • Call Chain = Buzzer_Init ⇒ GPIO_PinAFConfig
                                                                                                                    -
                                                                                                                    [Calls]
                                                                                                                    • >>   GPIO_PinAFConfig -
                                                                                                                    • >>   GPIO_Init -
                                                                                                                    • >>   RCC_APB1PeriphClockCmd -
                                                                                                                    • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                    • >>   TIM_TimeBaseInit -
                                                                                                                    • >>   TIM_OCStructInit -
                                                                                                                    • >>   TIM_OC3Init -
                                                                                                                    • >>   TIM_InternalClockConfig -
                                                                                                                    • >>   TIM_Cmd +
                                                                                                                      [Calls]
                                                                                                                      • >>   GPIO_PinAFConfig +
                                                                                                                      • >>   GPIO_Init +
                                                                                                                      • >>   RCC_APB1PeriphClockCmd +
                                                                                                                      • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                      • >>   TIM_TimeBaseInit +
                                                                                                                      • >>   TIM_OCStructInit +
                                                                                                                      • >>   TIM_OC3Init +
                                                                                                                      • >>   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)) +

                                                                                                                        Buzzer_ON (Thumb, 50 bytes, Stack size 8 bytes, buzzer.o(i.Buzzer_ON))

                                                                                                                        [Stack]

                                                                                                                        • Max Depth = 8
                                                                                                                        • Call Chain = Buzzer_ON
                                                                                                                        -
                                                                                                                        [Calls]
                                                                                                                        • >>   TIM_SetCompare3 -
                                                                                                                        • >>   TIM_PrescalerConfig -
                                                                                                                        • >>   TIM_Cmd +
                                                                                                                          [Calls]
                                                                                                                          • >>   TIM_SetCompare3 +
                                                                                                                          • >>   TIM_PrescalerConfig +
                                                                                                                          • >>   TIM_Cmd
                                                                                                                          -
                                                                                                                          [Called By]
                                                                                                                          • >>   Warming_BuzzerClean -
                                                                                                                          • >>   Warming_LinkError +
                                                                                                                            [Called By]
                                                                                                                            • >>   Warming_BuzzerClean +
                                                                                                                            • >>   Warming_LinkError

                                                                                                                            CAN1_RX0_IRQHandler (Thumb, 320 bytes, Stack size 16 bytes, can.o(i.CAN1_RX0_IRQHandler))

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 104
                                                                                                                            • Call Chain = CAN1_RX0_IRQHandler ⇒ M3508_CANDataProcess ⇒ __aeabi_ldivmod ⇒ __aeabi_uldivmod
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   CAN_GetITStatus -
                                                                                                                            • >>   CAN_ClearITPendingBit -
                                                                                                                            • >>   Warming_BuzzerClean -
                                                                                                                            • >>   M3508_CANDataProcess -
                                                                                                                            • >>   M2006_CANDataProcess -
                                                                                                                            • >>   LinkCheck_ON -
                                                                                                                            • >>   LinkCheck_OFF -
                                                                                                                            • >>   GM6020_CANDataProcess -
                                                                                                                            • >>   CAN_CAN2ChangeID -
                                                                                                                            • >>   CAN_CAN1Receive -
                                                                                                                            • >>   CAN_CAN1ChangeID +
                                                                                                                              [Calls]
                                                                                                                              • >>   CAN_GetITStatus +
                                                                                                                              • >>   CAN_ClearITPendingBit +
                                                                                                                              • >>   Warming_BuzzerClean +
                                                                                                                              • >>   M3508_CANDataProcess +
                                                                                                                              • >>   M2006_CANDataProcess +
                                                                                                                              • >>   LinkCheck_ON +
                                                                                                                              • >>   LinkCheck_OFF +
                                                                                                                              • >>   GM6020_CANDataProcess +
                                                                                                                              • >>   CAN_CAN2ChangeID +
                                                                                                                              • >>   CAN_CAN1Receive +
                                                                                                                              • >>   CAN_CAN1ChangeID

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

                                                                                                                              CAN2_RX1_IRQHandler (Thumb, 334 bytes, Stack size 16 bytes, can.o(i.CAN2_RX1_IRQHandler))

                                                                                                                              [Stack]

                                                                                                                              • Max Depth = 56
                                                                                                                              • Call Chain = CAN2_RX1_IRQHandler ⇒ CAN_CAN2Receive ⇒ CAN_Receive
                                                                                                                              -
                                                                                                                              [Calls]
                                                                                                                              • >>   CAN_GetITStatus -
                                                                                                                              • >>   CAN_ClearITPendingBit -
                                                                                                                              • >>   Warming_BuzzerClean -
                                                                                                                              • >>   LinkCheck_ON -
                                                                                                                              • >>   LinkCheck_OFF -
                                                                                                                              • >>   GM6020_CANDataProcess -
                                                                                                                              • >>   CToC_CANDataProcess -
                                                                                                                              • >>   CAN_CAN2Receive -
                                                                                                                              • >>   CAN_CAN2ChangeID -
                                                                                                                              • >>   CAN_CAN1ChangeID +
                                                                                                                                [Calls]
                                                                                                                                • >>   CAN_GetITStatus +
                                                                                                                                • >>   CAN_ClearITPendingBit +
                                                                                                                                • >>   Warming_BuzzerClean +
                                                                                                                                • >>   LinkCheck_ON +
                                                                                                                                • >>   LinkCheck_OFF +
                                                                                                                                • >>   GM6020_CANDataProcess +
                                                                                                                                • >>   CToC_CANDataProcess +
                                                                                                                                • >>   CAN_CAN2Receive +
                                                                                                                                • >>   CAN_CAN2ChangeID +
                                                                                                                                • >>   CAN_CAN1ChangeID

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

                                                                                                                                CAN_CAN1ChangeID (Thumb, 50 bytes, Stack size 0 bytes, can.o(i.CAN_CAN1ChangeID)) -

                                                                                                                                [Called By]

                                                                                                                                • >>   CAN_CAN_GetRefereeSystemData -
                                                                                                                                • >>   CAN_CANIDReset +

                                                                                                                                  CAN_CAN1ChangeID (Thumb, 50 bytes, Stack size 0 bytes, can.o(i.CAN_CAN1ChangeID)) +

                                                                                                                                  [Called By]

                                                                                                                                  • >>   CAN_CAN_GetRefereeSystemData +
                                                                                                                                  • >>   CAN_CANIDReset
                                                                                                                                  • >>   CAN2_RX1_IRQHandler
                                                                                                                                  • >>   CAN1_RX0_IRQHandler
                                                                                                                                  -

                                                                                                                                  CAN_CAN1Receive (Thumb, 54 bytes, Stack size 32 bytes, can.o(i.CAN_CAN1Receive)) +

                                                                                                                                  CAN_CAN1Receive (Thumb, 54 bytes, Stack size 32 bytes, can.o(i.CAN_CAN1Receive))

                                                                                                                                  [Stack]

                                                                                                                                  • Max Depth = 40
                                                                                                                                  • Call Chain = CAN_CAN1Receive ⇒ CAN_Receive
                                                                                                                                  -
                                                                                                                                  [Calls]
                                                                                                                                  • >>   CAN_Receive -
                                                                                                                                  • >>   CAN_MessagePending +
                                                                                                                                    [Calls]
                                                                                                                                    • >>   CAN_Receive +
                                                                                                                                    • >>   CAN_MessagePending

                                                                                                                                    [Called By]
                                                                                                                                    • >>   CAN1_RX0_IRQHandler
                                                                                                                                    -

                                                                                                                                    CAN_CAN2ChangeID (Thumb, 50 bytes, Stack size 0 bytes, can.o(i.CAN_CAN2ChangeID)) -

                                                                                                                                    [Called By]

                                                                                                                                    • >>   CAN_CAN_GetRefereeSystemData -
                                                                                                                                    • >>   CAN_CANIDReset +

                                                                                                                                      CAN_CAN2ChangeID (Thumb, 50 bytes, Stack size 0 bytes, can.o(i.CAN_CAN2ChangeID)) +

                                                                                                                                      [Called By]

                                                                                                                                      • >>   CAN_CAN_GetRefereeSystemData +
                                                                                                                                      • >>   CAN_CANIDReset
                                                                                                                                      • >>   CAN2_RX1_IRQHandler
                                                                                                                                      • >>   CAN1_RX0_IRQHandler
                                                                                                                                      -

                                                                                                                                      CAN_CAN2Receive (Thumb, 54 bytes, Stack size 32 bytes, can.o(i.CAN_CAN2Receive)) +

                                                                                                                                      CAN_CAN2Receive (Thumb, 54 bytes, Stack size 32 bytes, can.o(i.CAN_CAN2Receive))

                                                                                                                                      [Stack]

                                                                                                                                      • Max Depth = 40
                                                                                                                                      • Call Chain = CAN_CAN2Receive ⇒ CAN_Receive
                                                                                                                                      -
                                                                                                                                      [Calls]
                                                                                                                                      • >>   CAN_Receive -
                                                                                                                                      • >>   CAN_MessagePending +
                                                                                                                                        [Calls]
                                                                                                                                        • >>   CAN_Receive +
                                                                                                                                        • >>   CAN_MessagePending

                                                                                                                                        [Called By]
                                                                                                                                        • >>   CAN2_RX1_IRQHandler
                                                                                                                                        -

                                                                                                                                        CAN_CANIDReset (Thumb, 24 bytes, Stack size 4 bytes, can.o(i.CAN_CANIDReset)) +

                                                                                                                                        CAN_CANIDReset (Thumb, 24 bytes, Stack size 4 bytes, can.o(i.CAN_CANIDReset))

                                                                                                                                        [Stack]

                                                                                                                                        • Max Depth = 4
                                                                                                                                        • Call Chain = CAN_CANIDReset
                                                                                                                                        -
                                                                                                                                        [Calls]
                                                                                                                                        • >>   CAN_CAN2ChangeID -
                                                                                                                                        • >>   CAN_CAN1ChangeID +
                                                                                                                                          [Calls]
                                                                                                                                          • >>   CAN_CAN2ChangeID +
                                                                                                                                          • >>   CAN_CAN1ChangeID

                                                                                                                                          [Called By]
                                                                                                                                          • >>   TIM8_UP_TIM13_IRQHandler
                                                                                                                                          -

                                                                                                                                          CAN_CANInit (Thumb, 378 bytes, Stack size 48 bytes, can.o(i.CAN_CANInit)) +

                                                                                                                                          CAN_CANInit (Thumb, 378 bytes, Stack size 48 bytes, can.o(i.CAN_CANInit))

                                                                                                                                          [Stack]

                                                                                                                                          • Max Depth = 68
                                                                                                                                          • Call Chain = CAN_CANInit ⇒ GPIO_PinAFConfig
                                                                                                                                          -
                                                                                                                                          [Calls]
                                                                                                                                          • >>   CAN_Init -
                                                                                                                                          • >>   CAN_ITConfig -
                                                                                                                                          • >>   CAN_FilterInit -
                                                                                                                                          • >>   NVIC_PriorityGroupConfig -
                                                                                                                                          • >>   NVIC_Init -
                                                                                                                                          • >>   GPIO_PinAFConfig -
                                                                                                                                          • >>   GPIO_Init -
                                                                                                                                          • >>   RCC_APB1PeriphClockCmd -
                                                                                                                                          • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                            [Calls]
                                                                                                                                            • >>   CAN_Init +
                                                                                                                                            • >>   CAN_ITConfig +
                                                                                                                                            • >>   CAN_FilterInit +
                                                                                                                                            • >>   NVIC_PriorityGroupConfig +
                                                                                                                                            • >>   NVIC_Init +
                                                                                                                                            • >>   GPIO_PinAFConfig +
                                                                                                                                            • >>   GPIO_Init +
                                                                                                                                            • >>   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)) +

                                                                                                                                              CAN_CAN_GetRefereeSystemData (Thumb, 24 bytes, Stack size 4 bytes, can.o(i.CAN_CAN_GetRefereeSystemData))

                                                                                                                                              [Stack]

                                                                                                                                              • Max Depth = 4
                                                                                                                                              • Call Chain = CAN_CAN_GetRefereeSystemData
                                                                                                                                              -
                                                                                                                                              [Calls]
                                                                                                                                              • >>   CAN_CAN2ChangeID -
                                                                                                                                              • >>   CAN_CAN1ChangeID +
                                                                                                                                                [Calls]
                                                                                                                                                • >>   CAN_CAN2ChangeID +
                                                                                                                                                • >>   CAN_CAN1ChangeID

                                                                                                                                                [Called By]
                                                                                                                                                • >>   TIM8_UP_TIM13_IRQHandler
                                                                                                                                                -

                                                                                                                                                CAN_ClearITPendingBit (Thumb, 162 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_ClearITPendingBit)) +

                                                                                                                                                CAN_ClearITPendingBit (Thumb, 162 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_ClearITPendingBit))

                                                                                                                                                [Called By]

                                                                                                                                                • >>   CAN2_RX1_IRQHandler
                                                                                                                                                • >>   CAN1_RX0_IRQHandler
                                                                                                                                                -

                                                                                                                                                CAN_FilterInit (Thumb, 258 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_FilterInit)) +

                                                                                                                                                CAN_FilterInit (Thumb, 258 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_FilterInit))

                                                                                                                                                [Stack]

                                                                                                                                                • Max Depth = 8
                                                                                                                                                • Call Chain = CAN_FilterInit
                                                                                                                                                -
                                                                                                                                                [Called By]
                                                                                                                                                • >>   CAN_CANInit +
                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   CAN_CANInit
                                                                                                                                                  -

                                                                                                                                                  CAN_GetITStatus (Thumb, 284 bytes, Stack size 16 bytes, stm32f4xx_can.o(i.CAN_GetITStatus)) +

                                                                                                                                                  CAN_GetITStatus (Thumb, 284 bytes, Stack size 16 bytes, stm32f4xx_can.o(i.CAN_GetITStatus))

                                                                                                                                                  [Stack]

                                                                                                                                                  • Max Depth = 16
                                                                                                                                                  • Call Chain = CAN_GetITStatus
                                                                                                                                                  -
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   CheckITStatus +
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   CheckITStatus

                                                                                                                                                    [Called By]
                                                                                                                                                    • >>   CAN2_RX1_IRQHandler
                                                                                                                                                    • >>   CAN1_RX0_IRQHandler
                                                                                                                                                    -

                                                                                                                                                    CAN_ITConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_ITConfig)) -

                                                                                                                                                    [Called By]

                                                                                                                                                    • >>   CAN_CANInit +

                                                                                                                                                      CAN_ITConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_ITConfig)) +

                                                                                                                                                      [Called By]

                                                                                                                                                      • >>   CAN_CANInit
                                                                                                                                                      -

                                                                                                                                                      CAN_Init (Thumb, 276 bytes, Stack size 12 bytes, stm32f4xx_can.o(i.CAN_Init)) +

                                                                                                                                                      CAN_Init (Thumb, 276 bytes, Stack size 12 bytes, stm32f4xx_can.o(i.CAN_Init))

                                                                                                                                                      [Stack]

                                                                                                                                                      • Max Depth = 12
                                                                                                                                                      • Call Chain = CAN_Init
                                                                                                                                                      -
                                                                                                                                                      [Called By]
                                                                                                                                                      • >>   CAN_CANInit +
                                                                                                                                                        [Called By]
                                                                                                                                                        • >>   CAN_CANInit
                                                                                                                                                        -

                                                                                                                                                        CAN_MessagePending (Thumb, 30 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_MessagePending)) -

                                                                                                                                                        [Called By]

                                                                                                                                                        • >>   CAN_CAN2Receive -
                                                                                                                                                        • >>   CAN_CAN1Receive +

                                                                                                                                                          CAN_MessagePending (Thumb, 30 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_MessagePending)) +

                                                                                                                                                          [Called By]

                                                                                                                                                          • >>   CAN_CAN2Receive +
                                                                                                                                                          • >>   CAN_CAN1Receive
                                                                                                                                                          -

                                                                                                                                                          CAN_Receive (Thumb, 232 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_Receive)) +

                                                                                                                                                          CAN_Receive (Thumb, 232 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_Receive))

                                                                                                                                                          [Stack]

                                                                                                                                                          • Max Depth = 8
                                                                                                                                                          • Call Chain = CAN_Receive
                                                                                                                                                          -
                                                                                                                                                          [Called By]
                                                                                                                                                          • >>   CAN_CAN2Receive -
                                                                                                                                                          • >>   CAN_CAN1Receive +
                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   CAN_CAN2Receive +
                                                                                                                                                            • >>   CAN_CAN1Receive
                                                                                                                                                            -

                                                                                                                                                            CAN_Transmit (Thumb, 294 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_Transmit)) +

                                                                                                                                                            CAN_Transmit (Thumb, 294 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_Transmit))

                                                                                                                                                            [Stack]

                                                                                                                                                            • Max Depth = 8
                                                                                                                                                            • Call Chain = CAN_Transmit
                                                                                                                                                            -
                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   CToC_MasterSendData -
                                                                                                                                                            • >>   CToC_MasterSendControl -
                                                                                                                                                            • >>   M2006_CANSetHIDCurrent -
                                                                                                                                                            • >>   GM6020_CAN2SetLIDVoltage -
                                                                                                                                                            • >>   M3508_CANSetLIDCurrent +
                                                                                                                                                              [Called By]
                                                                                                                                                              • >>   CToC_MasterSendData +
                                                                                                                                                              • >>   CToC_MasterSendControl +
                                                                                                                                                              • >>   M2006_CANSetHIDCurrent +
                                                                                                                                                              • >>   GM6020_CAN2SetLIDVoltage +
                                                                                                                                                              • >>   M3508_CANSetLIDCurrent
                                                                                                                                                              -

                                                                                                                                                              CAN_TransmitStatus (Thumb, 138 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_TransmitStatus)) +

                                                                                                                                                              CAN_TransmitStatus (Thumb, 138 bytes, Stack size 8 bytes, stm32f4xx_can.o(i.CAN_TransmitStatus))

                                                                                                                                                              [Stack]

                                                                                                                                                              • Max Depth = 8
                                                                                                                                                              • Call Chain = CAN_TransmitStatus
                                                                                                                                                              -
                                                                                                                                                              [Called By]
                                                                                                                                                              • >>   CToC_MasterSendData -
                                                                                                                                                              • >>   CToC_MasterSendControl -
                                                                                                                                                              • >>   M2006_CANSetHIDCurrent -
                                                                                                                                                              • >>   GM6020_CAN2SetLIDVoltage -
                                                                                                                                                              • >>   M3508_CANSetLIDCurrent +
                                                                                                                                                                [Called By]
                                                                                                                                                                • >>   CToC_MasterSendData +
                                                                                                                                                                • >>   CToC_MasterSendControl +
                                                                                                                                                                • >>   M2006_CANSetHIDCurrent +
                                                                                                                                                                • >>   GM6020_CAN2SetLIDVoltage +
                                                                                                                                                                • >>   M3508_CANSetLIDCurrent
                                                                                                                                                                -

                                                                                                                                                                CToC_CANDataProcess (Thumb, 38 bytes, Stack size 0 bytes, ctoc.o(i.CToC_CANDataProcess)) +

                                                                                                                                                                CToC_CANDataProcess (Thumb, 38 bytes, Stack size 0 bytes, ctoc.o(i.CToC_CANDataProcess))

                                                                                                                                                                [Called By]

                                                                                                                                                                • >>   CAN2_RX1_IRQHandler
                                                                                                                                                                -

                                                                                                                                                                CToC_MasterSendControl (Thumb, 140 bytes, Stack size 32 bytes, ctoc.o(i.CToC_MasterSendControl)) +

                                                                                                                                                                CToC_MasterSendControl (Thumb, 138 bytes, Stack size 32 bytes, ctoc.o(i.CToC_MasterSendControl))

                                                                                                                                                                [Stack]

                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                • Call Chain = CToC_MasterSendControl ⇒ CAN_TransmitStatus
                                                                                                                                                                -
                                                                                                                                                                [Calls]
                                                                                                                                                                • >>   CAN_TransmitStatus -
                                                                                                                                                                • >>   CAN_Transmit +
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   CAN_TransmitStatus +
                                                                                                                                                                  • >>   CAN_Transmit

                                                                                                                                                                  [Called By]
                                                                                                                                                                  • >>   main
                                                                                                                                                                  -

                                                                                                                                                                  CToC_MasterSendData (Thumb, 478 bytes, Stack size 32 bytes, ctoc.o(i.CToC_MasterSendData)) +

                                                                                                                                                                  CToC_MasterSendData (Thumb, 478 bytes, Stack size 32 bytes, ctoc.o(i.CToC_MasterSendData))

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 40
                                                                                                                                                                  • Call Chain = CToC_MasterSendData ⇒ CAN_TransmitStatus
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   CAN_TransmitStatus -
                                                                                                                                                                  • >>   CAN_Transmit +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   CAN_TransmitStatus +
                                                                                                                                                                    • >>   CAN_Transmit

                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   main
                                                                                                                                                                    -

                                                                                                                                                                    CloseLoopControl_Init (Thumb, 126 bytes, Stack size 24 bytes, closeloopcontrol.o(i.CloseLoopControl_Init)) +

                                                                                                                                                                    CloseLoopControl_Init (Thumb, 126 bytes, Stack size 24 bytes, closeloopcontrol.o(i.CloseLoopControl_Init))

                                                                                                                                                                    [Stack]

                                                                                                                                                                    • Max Depth = 68
                                                                                                                                                                    • Call Chain = CloseLoopControl_Init ⇒ Gimbal_Init ⇒ Laser_Init ⇒ GPIO_Init
                                                                                                                                                                    -
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   NVIC_PriorityGroupConfig -
                                                                                                                                                                    • >>   NVIC_Init -
                                                                                                                                                                    • >>   RCC_APB1PeriphClockCmd -
                                                                                                                                                                    • >>   TIM_TimeBaseInit -
                                                                                                                                                                    • >>   TIM_InternalClockConfig -
                                                                                                                                                                    • >>   TIM_ITConfig -
                                                                                                                                                                    • >>   TIM_Cmd -
                                                                                                                                                                    • >>   TIM_ClearFlag -
                                                                                                                                                                    • >>   IMUTemperatureControl_PIDInit -
                                                                                                                                                                    • >>   Gimbal_Init +
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   NVIC_PriorityGroupConfig +
                                                                                                                                                                      • >>   NVIC_Init +
                                                                                                                                                                      • >>   RCC_APB1PeriphClockCmd +
                                                                                                                                                                      • >>   TIM_TimeBaseInit +
                                                                                                                                                                      • >>   TIM_InternalClockConfig +
                                                                                                                                                                      • >>   TIM_ITConfig +
                                                                                                                                                                      • >>   TIM_Cmd +
                                                                                                                                                                      • >>   TIM_ClearFlag +
                                                                                                                                                                      • >>   IMUTemperatureControl_PIDInit +
                                                                                                                                                                      • >>   Gimbal_Init

                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   main
                                                                                                                                                                      @@ -1025,985 +971,1008 @@ Global Symbols

                                                                                                                                                                      DMA2_Stream2_IRQHandler (Thumb, 136 bytes, Stack size 8 bytes, bmi088.o(i.DMA2_Stream2_IRQHandler))

                                                                                                                                                                      [Stack]

                                                                                                                                                                      • Max Depth = 28
                                                                                                                                                                      • Call Chain = DMA2_Stream2_IRQHandler ⇒ BMI088_CheckAndCloseDMA ⇒ DMA_GetFlagStatus
                                                                                                                                                                      -
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   DMA_GetITStatus -
                                                                                                                                                                      • >>   DMA_ClearITPendingBit -
                                                                                                                                                                      • >>   GPIO_WriteBit -
                                                                                                                                                                      • >>   BMI088_ProcessTemperatureData -
                                                                                                                                                                      • >>   BMI088_ProcessGyroData -
                                                                                                                                                                      • >>   BMI088_ProcessAccelData -
                                                                                                                                                                      • >>   BMI088_OpenDMA -
                                                                                                                                                                      • >>   BMI088_CheckAndCloseDMA +
                                                                                                                                                                        [Calls]
                                                                                                                                                                        • >>   DMA_GetITStatus +
                                                                                                                                                                        • >>   DMA_ClearITPendingBit +
                                                                                                                                                                        • >>   GPIO_WriteBit +
                                                                                                                                                                        • >>   BMI088_ProcessTemperatureData +
                                                                                                                                                                        • >>   BMI088_ProcessGyroData +
                                                                                                                                                                        • >>   BMI088_ProcessAccelData +
                                                                                                                                                                        • >>   BMI088_OpenDMA +
                                                                                                                                                                        • >>   BMI088_CheckAndCloseDMA

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

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

                                                                                                                                                                        [Called By]

                                                                                                                                                                        • >>   BMI088_CheckAndCloseDMA -
                                                                                                                                                                        • >>   Remote_TransferReset +

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

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   BMI088_CheckAndCloseDMA +
                                                                                                                                                                          • >>   Remote_TransferReset
                                                                                                                                                                          -

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

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

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   DMA2_Stream2_IRQHandler
                                                                                                                                                                          -

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

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

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   EXTI9_5_IRQHandler
                                                                                                                                                                          • >>   EXTI4_IRQHandler -
                                                                                                                                                                          • >>   BMI088_OpenDMA -
                                                                                                                                                                          • >>   BMI088_Init -
                                                                                                                                                                          • >>   BMI088_CheckAndCloseDMA -
                                                                                                                                                                          • >>   Remote_TransferReset -
                                                                                                                                                                          • >>   Remote_Init +
                                                                                                                                                                          • >>   BMI088_OpenDMA +
                                                                                                                                                                          • >>   BMI088_Init +
                                                                                                                                                                          • >>   BMI088_CheckAndCloseDMA +
                                                                                                                                                                          • >>   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 +

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

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   BMI088_OpenDMA +
                                                                                                                                                                                • >>   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)) +

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

                                                                                                                                                                                    DMA_GetITStatus (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_dma.o(i.DMA_GetITStatus)) +

                                                                                                                                                                                    DMA_GetITStatus (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_dma.o(i.DMA_GetITStatus))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                    • Call Chain = DMA_GetITStatus

                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   DMA2_Stream2_IRQHandler
                                                                                                                                                                                    -

                                                                                                                                                                                    DMA_ITConfig (Thumb, 58 bytes, Stack size 8 bytes, stm32f4xx_dma.o(i.DMA_ITConfig)) +

                                                                                                                                                                                    DMA_ITConfig (Thumb, 58 bytes, Stack size 8 bytes, stm32f4xx_dma.o(i.DMA_ITConfig))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 8
                                                                                                                                                                                    • Call Chain = DMA_ITConfig
                                                                                                                                                                                    -
                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   BMI088_Init +
                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   BMI088_Init
                                                                                                                                                                                      -

                                                                                                                                                                                      DMA_Init (Thumb, 82 bytes, Stack size 8 bytes, stm32f4xx_dma.o(i.DMA_Init)) +

                                                                                                                                                                                      DMA_Init (Thumb, 82 bytes, Stack size 8 bytes, stm32f4xx_dma.o(i.DMA_Init))

                                                                                                                                                                                      [Stack]

                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                      • Call Chain = DMA_Init
                                                                                                                                                                                      -
                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   BMI088_Init -
                                                                                                                                                                                      • >>   Remote_Init +
                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   BMI088_Init +
                                                                                                                                                                                        • >>   Remote_Init
                                                                                                                                                                                        -

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

                                                                                                                                                                                        [Called By]

                                                                                                                                                                                        • >>   BMI088_OpenDMA -
                                                                                                                                                                                        • >>   Remote_TransferReset +

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

                                                                                                                                                                                          [Called By]

                                                                                                                                                                                          • >>   BMI088_OpenDMA +
                                                                                                                                                                                          • >>   Remote_TransferReset

                                                                                                                                                                                          DebugMon_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.DebugMon_Handler))
                                                                                                                                                                                          [Address Reference Count : 1]

                                                                                                                                                                                          • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                          -

                                                                                                                                                                                          Delay_ms (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_ms)) +

                                                                                                                                                                                          Delay_ms (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_ms))

                                                                                                                                                                                          [Stack]

                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                          • Call Chain = Delay_ms
                                                                                                                                                                                          -
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   Delay_us +
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   Delay_us
                                                                                                                                                                                            -
                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   IST8310_Init -
                                                                                                                                                                                            • >>   BMI088_Init -
                                                                                                                                                                                            • >>   Delay_s +
                                                                                                                                                                                              [Called By]
                                                                                                                                                                                              • >>   IST8310_Init +
                                                                                                                                                                                              • >>   BMI088_Init +
                                                                                                                                                                                              • >>   Delay_s
                                                                                                                                                                                              -

                                                                                                                                                                                              Delay_s (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_s)) +

                                                                                                                                                                                              Delay_s (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_s))

                                                                                                                                                                                              [Stack]

                                                                                                                                                                                              • Max Depth = 16
                                                                                                                                                                                              • Call Chain = Delay_s ⇒ Delay_ms
                                                                                                                                                                                              -
                                                                                                                                                                                              [Calls]
                                                                                                                                                                                              • >>   Delay_ms +
                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                • >>   Delay_ms

                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                • >>   main
                                                                                                                                                                                                -

                                                                                                                                                                                                Delay_us (Thumb, 74 bytes, Stack size 0 bytes, delay.o(i.Delay_us)) -

                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                • >>   Delay_ms +

                                                                                                                                                                                                  Delay_us (Thumb, 74 bytes, Stack size 0 bytes, delay.o(i.Delay_us)) +

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   Delay_ms
                                                                                                                                                                                                  • >>   main

                                                                                                                                                                                                  EXTI3_IRQHandler (Thumb, 30 bytes, Stack size 8 bytes, ist8310.o(i.EXTI3_IRQHandler))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 96
                                                                                                                                                                                                  • Call Chain = EXTI3_IRQHandler ⇒ IST8310_GetData ⇒ MyI2C_ContinuousReadRegister ⇒ MyI2C_SendAck ⇒ MyI2C_SDA
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                  • >>   EXTI_GetITStatus -
                                                                                                                                                                                                  • >>   EXTI_ClearITPendingBit -
                                                                                                                                                                                                  • >>   IST8310_GetData +
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   EXTI_GetITStatus +
                                                                                                                                                                                                    • >>   EXTI_ClearITPendingBit +
                                                                                                                                                                                                    • >>   IST8310_GetData

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

                                                                                                                                                                                                    EXTI4_IRQHandler (Thumb, 114 bytes, Stack size 8 bytes, bmi088.o(i.EXTI4_IRQHandler))

                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                    • Max Depth = 28
                                                                                                                                                                                                    • Call Chain = EXTI4_IRQHandler ⇒ BMI088_CheckAndCloseDMA ⇒ DMA_GetFlagStatus
                                                                                                                                                                                                    -
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   DMA_Cmd -
                                                                                                                                                                                                    • >>   GPIO_WriteBit -
                                                                                                                                                                                                    • >>   EXTI_GetITStatus -
                                                                                                                                                                                                    • >>   EXTI_ClearITPendingBit -
                                                                                                                                                                                                    • >>   BMI088_OpenDMA -
                                                                                                                                                                                                    • >>   BMI088_CheckAndCloseDMA +
                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   DMA_Cmd +
                                                                                                                                                                                                      • >>   GPIO_WriteBit +
                                                                                                                                                                                                      • >>   EXTI_GetITStatus +
                                                                                                                                                                                                      • >>   EXTI_ClearITPendingBit +
                                                                                                                                                                                                      • >>   BMI088_OpenDMA +
                                                                                                                                                                                                      • >>   BMI088_CheckAndCloseDMA

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

                                                                                                                                                                                                      EXTI9_5_IRQHandler (Thumb, 114 bytes, Stack size 8 bytes, bmi088.o(i.EXTI9_5_IRQHandler))

                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                      • Max Depth = 28
                                                                                                                                                                                                      • Call Chain = EXTI9_5_IRQHandler ⇒ BMI088_CheckAndCloseDMA ⇒ DMA_GetFlagStatus
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   DMA_Cmd -
                                                                                                                                                                                                      • >>   GPIO_WriteBit -
                                                                                                                                                                                                      • >>   EXTI_GetITStatus -
                                                                                                                                                                                                      • >>   EXTI_ClearITPendingBit -
                                                                                                                                                                                                      • >>   BMI088_OpenDMA -
                                                                                                                                                                                                      • >>   BMI088_CheckAndCloseDMA +
                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                        • >>   DMA_Cmd +
                                                                                                                                                                                                        • >>   GPIO_WriteBit +
                                                                                                                                                                                                        • >>   EXTI_GetITStatus +
                                                                                                                                                                                                        • >>   EXTI_ClearITPendingBit +
                                                                                                                                                                                                        • >>   BMI088_OpenDMA +
                                                                                                                                                                                                        • >>   BMI088_CheckAndCloseDMA

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

                                                                                                                                                                                                        EXTI_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_exti.o(i.EXTI_ClearITPendingBit)) +

                                                                                                                                                                                                        EXTI_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_exti.o(i.EXTI_ClearITPendingBit))

                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                        • >>   EXTI3_IRQHandler
                                                                                                                                                                                                        • >>   EXTI9_5_IRQHandler
                                                                                                                                                                                                        • >>   EXTI4_IRQHandler
                                                                                                                                                                                                        -

                                                                                                                                                                                                        EXTI_GetITStatus (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_exti.o(i.EXTI_GetITStatus)) +

                                                                                                                                                                                                        EXTI_GetITStatus (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_exti.o(i.EXTI_GetITStatus))

                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                        • >>   EXTI3_IRQHandler
                                                                                                                                                                                                        • >>   EXTI9_5_IRQHandler
                                                                                                                                                                                                        • >>   EXTI4_IRQHandler
                                                                                                                                                                                                        -

                                                                                                                                                                                                        EXTI_Init (Thumb, 142 bytes, Stack size 0 bytes, stm32f4xx_exti.o(i.EXTI_Init)) -

                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                        • >>   IST8310_Init -
                                                                                                                                                                                                        • >>   BMI088_Init +

                                                                                                                                                                                                          EXTI_Init (Thumb, 142 bytes, Stack size 0 bytes, stm32f4xx_exti.o(i.EXTI_Init)) +

                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                          • >>   IST8310_Init +
                                                                                                                                                                                                          • >>   BMI088_Init
                                                                                                                                                                                                          -

                                                                                                                                                                                                          GM6020_CAN2SetLIDVoltage (Thumb, 146 bytes, Stack size 48 bytes, gm6020.o(i.GM6020_CAN2SetLIDVoltage)) +

                                                                                                                                                                                                          GM6020_CAN2SetLIDVoltage (Thumb, 146 bytes, Stack size 48 bytes, gm6020.o(i.GM6020_CAN2SetLIDVoltage))

                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                          • Call Chain = GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus
                                                                                                                                                                                                          -
                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                          • >>   CAN_TransmitStatus -
                                                                                                                                                                                                          • >>   CAN_Transmit +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   CAN_TransmitStatus +
                                                                                                                                                                                                            • >>   CAN_Transmit
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   Warming_MotorControl +
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   Gimbal_YawControl +
                                                                                                                                                                                                              • >>   Warming_MotorControl
                                                                                                                                                                                                              -

                                                                                                                                                                                                              GM6020_CANDataProcess (Thumb, 352 bytes, Stack size 20 bytes, gm6020.o(i.GM6020_CANDataProcess)) +

                                                                                                                                                                                                              GM6020_CANDataProcess (Thumb, 352 bytes, Stack size 20 bytes, gm6020.o(i.GM6020_CANDataProcess))

                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                              • Max Depth = 20
                                                                                                                                                                                                              • Call Chain = GM6020_CANDataProcess

                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   CAN2_RX1_IRQHandler
                                                                                                                                                                                                              • >>   CAN1_RX0_IRQHandler
                                                                                                                                                                                                              -

                                                                                                                                                                                                              GPIO_Init (Thumb, 144 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_Init)) +

                                                                                                                                                                                                              GPIO_Init (Thumb, 144 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_Init))

                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                              • Max Depth = 20
                                                                                                                                                                                                              • Call Chain = GPIO_Init
                                                                                                                                                                                                              -
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   Laser_Init -
                                                                                                                                                                                                              • >>   IST8310_Init -
                                                                                                                                                                                                              • >>   BMI088_Init -
                                                                                                                                                                                                              • >>   Remote_Init -
                                                                                                                                                                                                              • >>   Buzzer_Init -
                                                                                                                                                                                                              • >>   LED_Init -
                                                                                                                                                                                                              • >>   CAN_CANInit -
                                                                                                                                                                                                              • >>   MyI2C_Init -
                                                                                                                                                                                                              • >>   UART2_Init -
                                                                                                                                                                                                              • >>   UART1_Init +
                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   Laser_Init +
                                                                                                                                                                                                                • >>   IST8310_Init +
                                                                                                                                                                                                                • >>   BMI088_Init +
                                                                                                                                                                                                                • >>   Remote_Init +
                                                                                                                                                                                                                • >>   Buzzer_Init +
                                                                                                                                                                                                                • >>   LED_Init +
                                                                                                                                                                                                                • >>   CAN_CANInit +
                                                                                                                                                                                                                • >>   MyI2C_Init +
                                                                                                                                                                                                                • >>   UART2_Init +
                                                                                                                                                                                                                • >>   UART1_Init
                                                                                                                                                                                                                -

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

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

                                                                                                                                                                                                                    [Called By]

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

                                                                                                                                                                                                                      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
                                                                                                                                                                                                                      -

                                                                                                                                                                                                                      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 +

                                                                                                                                                                                                                        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
                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                        • >>   IST8310_RSTN +

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

                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                          • >>   IST8310_RSTN
                                                                                                                                                                                                                          • >>   EXTI9_5_IRQHandler
                                                                                                                                                                                                                          • >>   EXTI4_IRQHandler
                                                                                                                                                                                                                          • >>   DMA2_Stream2_IRQHandler -
                                                                                                                                                                                                                          • >>   BMI088_SPI_GyroWriteRegister -
                                                                                                                                                                                                                          • >>   BMI088_SPI_GyroReadRegister -
                                                                                                                                                                                                                          • >>   BMI088_SPI_AccelWriteRegister -
                                                                                                                                                                                                                          • >>   BMI088_SPI_AccelReadRegister -
                                                                                                                                                                                                                          • >>   BMI088_Init -
                                                                                                                                                                                                                          • >>   MyI2C_SDA -
                                                                                                                                                                                                                          • >>   MyI2C_SCL +
                                                                                                                                                                                                                          • >>   BMI088_SPI_GyroWriteRegister +
                                                                                                                                                                                                                          • >>   BMI088_SPI_GyroReadRegister +
                                                                                                                                                                                                                          • >>   BMI088_SPI_AccelWriteRegister +
                                                                                                                                                                                                                          • >>   BMI088_SPI_AccelReadRegister +
                                                                                                                                                                                                                          • >>   BMI088_Init +
                                                                                                                                                                                                                          • >>   MyI2C_SDA +
                                                                                                                                                                                                                          • >>   MyI2C_SCL
                                                                                                                                                                                                                          -

                                                                                                                                                                                                                          Gimbal_CleanPID (Thumb, 46 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_CleanPID)) +

                                                                                                                                                                                                                          Gimbal_CleanPID (Thumb, 58 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_CleanPID))

                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                          • Call Chain = Gimbal_CleanPID
                                                                                                                                                                                                                          -
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   PID_PositionClean +
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   PID_PositionClean

                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   TIM6_DAC_IRQHandler
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            Gimbal_FiringMechanismControl (Thumb, 182 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_FiringMechanismControl)) +

                                                                                                                                                                                                                            Gimbal_FiringMechanismControl (Thumb, 290 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_FiringMechanismControl))

                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                            • Max Depth = 64
                                                                                                                                                                                                                            • Call Chain = Gimbal_FiringMechanismControl ⇒ M3508_CANSetLIDCurrent ⇒ CAN_TransmitStatus
                                                                                                                                                                                                                            -
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   Laser_ON -
                                                                                                                                                                                                                            • >>   Laser_OFF -
                                                                                                                                                                                                                            • >>   PID_PositionCalc -
                                                                                                                                                                                                                            • >>   M3508_CANSetLIDCurrent +
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   Laser_ON +
                                                                                                                                                                                                                              • >>   Laser_OFF +
                                                                                                                                                                                                                              • >>   PID_PositionCalc +
                                                                                                                                                                                                                              • >>   M3508_CANSetLIDCurrent
                                                                                                                                                                                                                              -
                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   Gimbal_MoveControl +
                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   Gimbal_MoveControl
                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                Gimbal_Init (Thumb, 400 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Init)) +

                                                                                                                                                                                                                                Gimbal_Init (Thumb, 512 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Init))

                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                • Max Depth = 44
                                                                                                                                                                                                                                • Call Chain = Gimbal_Init ⇒ Laser_Init ⇒ GPIO_Init
                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   Laser_Init -
                                                                                                                                                                                                                                • >>   PID_PositionStructureInit -
                                                                                                                                                                                                                                • >>   PID_PositionSetParameter -
                                                                                                                                                                                                                                • >>   PID_PositionSetOUTRange -
                                                                                                                                                                                                                                • >>   PID_PositionSetEkRange +
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   Laser_Init +
                                                                                                                                                                                                                                  • >>   PID_PositionStructureInit +
                                                                                                                                                                                                                                  • >>   PID_PositionSetParameter +
                                                                                                                                                                                                                                  • >>   PID_PositionSetOUTRange +
                                                                                                                                                                                                                                  • >>   PID_PositionSetEkRange
                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   CloseLoopControl_Init +
                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   CloseLoopControl_Init
                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                    Gimbal_MoveControl (Thumb, 12 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_MoveControl)) -

                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                    • Max Depth = 72
                                                                                                                                                                                                                                    • Call Chain = Gimbal_MoveControl ⇒ Gimbal_Rammer ⇒ M2006_CANSetHIDCurrent ⇒ CAN_TransmitStatus +

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

                                                                                                                                                                                                                                      [Stack]

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

                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   TIM6_DAC_IRQHandler
                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                        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))

                                                                                                                                                                                                                                        [Stack]

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

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

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 64
                                                                                                                                                                                                                                            • Call Chain = Gimbal_YawControl ⇒ GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus +
                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   PID_PositionCalc +
                                                                                                                                                                                                                                            • >>   GM6020_CAN2SetLIDVoltage +
                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   Gimbal_MoveControl

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

                                                                                                                                                                                                                                            • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            IMUTemperatureControl_PIDInit (Thumb, 60 bytes, Stack size 8 bytes, imutemperaturecontrol.o(i.IMUTemperatureControl_PIDInit)) +

                                                                                                                                                                                                                                            IMUTemperatureControl_PIDInit (Thumb, 60 bytes, Stack size 8 bytes, imutemperaturecontrol.o(i.IMUTemperatureControl_PIDInit))

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 8
                                                                                                                                                                                                                                            • Call Chain = IMUTemperatureControl_PIDInit
                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   PID_PositionStructureInit -
                                                                                                                                                                                                                                            • >>   PID_PositionSetParameter -
                                                                                                                                                                                                                                            • >>   PID_PositionSetOUTRange -
                                                                                                                                                                                                                                            • >>   PID_PositionSetEkRange +
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   PID_PositionStructureInit +
                                                                                                                                                                                                                                              • >>   PID_PositionSetParameter +
                                                                                                                                                                                                                                              • >>   PID_PositionSetOUTRange +
                                                                                                                                                                                                                                              • >>   PID_PositionSetEkRange
                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   CloseLoopControl_Init +
                                                                                                                                                                                                                                                [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 -
                                                                                                                                                                                                                                                • >>   PID_PositionCalc -
                                                                                                                                                                                                                                                • >>   Warming_IMUTemperatureTooHigh +
                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                  • >>   TIM_SetCompare1 +
                                                                                                                                                                                                                                                  • >>   PID_PositionCalc +
                                                                                                                                                                                                                                                  • >>   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)) +

                                                                                                                                                                                                                                                    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
                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                      IST8310_Init (Thumb, 286 bytes, Stack size 24 bytes, ist8310.o(i.IST8310_Init)) +

                                                                                                                                                                                                                                                      IST8310_Init (Thumb, 286 bytes, Stack size 24 bytes, ist8310.o(i.IST8310_Init))

                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                      • Max Depth = 80
                                                                                                                                                                                                                                                      • Call Chain = IST8310_Init ⇒ MyI2C_WriteRegister ⇒ MyI2C_Send8bits ⇒ MyI2C_SDA
                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                      • >>   NVIC_PriorityGroupConfig -
                                                                                                                                                                                                                                                      • >>   NVIC_Init -
                                                                                                                                                                                                                                                      • >>   GPIO_Init -
                                                                                                                                                                                                                                                      • >>   EXTI_Init -
                                                                                                                                                                                                                                                      • >>   RCC_APB2PeriphClockCmd -
                                                                                                                                                                                                                                                      • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                                                                                                                                      • >>   SYSCFG_EXTILineConfig -
                                                                                                                                                                                                                                                      • >>   Warming_IST8310LinkError -
                                                                                                                                                                                                                                                      • >>   IST8310_Reset -
                                                                                                                                                                                                                                                      • >>   MyI2C_WriteRegister -
                                                                                                                                                                                                                                                      • >>   MyI2C_Init -
                                                                                                                                                                                                                                                      • >>   MyI2C_CheckWhoAmI -
                                                                                                                                                                                                                                                      • >>   MyI2C_CheckDevice -
                                                                                                                                                                                                                                                      • >>   Delay_ms +
                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                        • >>   NVIC_PriorityGroupConfig +
                                                                                                                                                                                                                                                        • >>   NVIC_Init +
                                                                                                                                                                                                                                                        • >>   GPIO_Init +
                                                                                                                                                                                                                                                        • >>   EXTI_Init +
                                                                                                                                                                                                                                                        • >>   RCC_APB2PeriphClockCmd +
                                                                                                                                                                                                                                                        • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                        • >>   SYSCFG_EXTILineConfig +
                                                                                                                                                                                                                                                        • >>   Warming_IST8310LinkError +
                                                                                                                                                                                                                                                        • >>   IST8310_Reset +
                                                                                                                                                                                                                                                        • >>   MyI2C_WriteRegister +
                                                                                                                                                                                                                                                        • >>   MyI2C_Init +
                                                                                                                                                                                                                                                        • >>   MyI2C_CheckWhoAmI +
                                                                                                                                                                                                                                                        • >>   MyI2C_CheckDevice +
                                                                                                                                                                                                                                                        • >>   Delay_ms
                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                          [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 +
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   GPIO_WriteBit +
                                                                                                                                                                                                                                                            • >>   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 +
                                                                                                                                                                                                                                                                  [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, 324 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 -
                                                                                                                                                                                                                                                                                      • >>   Warming_BMI088LinkError -
                                                                                                                                                                                                                                                                                      • >>   Warming_LEDClean +
                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                        • >>   Warming_IST8310LinkError +
                                                                                                                                                                                                                                                                                        • >>   Warming_BMI088LinkError +
                                                                                                                                                                                                                                                                                        • >>   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 -
                                                                                                                                                                                                                                                                                          • >>   Warming_BMI088LinkError -
                                                                                                                                                                                                                                                                                          • >>   Warming_IMUTemperatureTooHigh +
                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   Warming_IST8310LinkError +
                                                                                                                                                                                                                                                                                            • >>   Warming_BMI088LinkError +
                                                                                                                                                                                                                                                                                            • >>   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 -
                                                                                                                                                                                                                                                                                            • >>   GPIO_Init -
                                                                                                                                                                                                                                                                                            • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                              [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)) +

                                                                                                                                                                                                                                                                                                        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 -
                                                                                                                                                                                                                                                                                                        • >>   GPIO_Init -
                                                                                                                                                                                                                                                                                                        • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                          • >>   GPIO_ResetBits +
                                                                                                                                                                                                                                                                                                          • >>   GPIO_Init +
                                                                                                                                                                                                                                                                                                          • >>   RCC_AHB1PeriphClockCmd
                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Init +
                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                            -

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

                                                                                                                                                                                                                                                                                                            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 +
                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                • >>   Gimbal_FiringMechanismControl
                                                                                                                                                                                                                                                                                                                -

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

                                                                                                                                                                                                                                                                                                                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 +
                                                                                                                                                                                                                                                                                                                    [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 -
                                                                                                                                                                                                                                                                                                                    • >>   NVIC_Init -
                                                                                                                                                                                                                                                                                                                    • >>   RCC_APB1PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                    • >>   CAN_CANInit -
                                                                                                                                                                                                                                                                                                                    • >>   TIM_TimeBaseInit -
                                                                                                                                                                                                                                                                                                                    • >>   TIM_InternalClockConfig -
                                                                                                                                                                                                                                                                                                                    • >>   TIM_ITConfig -
                                                                                                                                                                                                                                                                                                                    • >>   TIM_Cmd -
                                                                                                                                                                                                                                                                                                                    • >>   TIM_ClearFlag +
                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                      • >>   NVIC_PriorityGroupConfig +
                                                                                                                                                                                                                                                                                                                      • >>   NVIC_Init +
                                                                                                                                                                                                                                                                                                                      • >>   RCC_APB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                      • >>   CAN_CANInit +
                                                                                                                                                                                                                                                                                                                      • >>   TIM_TimeBaseInit +
                                                                                                                                                                                                                                                                                                                      • >>   TIM_InternalClockConfig +
                                                                                                                                                                                                                                                                                                                      • >>   TIM_ITConfig +
                                                                                                                                                                                                                                                                                                                      • >>   TIM_Cmd +
                                                                                                                                                                                                                                                                                                                      • >>   TIM_ClearFlag

                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                      • >>   main
                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                      LinkCheck_OFF (Thumb, 12 bytes, Stack size 8 bytes, linkcheck.o(i.LinkCheck_OFF)) +

                                                                                                                                                                                                                                                                                                                      LinkCheck_OFF (Thumb, 12 bytes, Stack size 8 bytes, linkcheck.o(i.LinkCheck_OFF))

                                                                                                                                                                                                                                                                                                                      [Stack]

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

                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                        • >>   CAN2_RX1_IRQHandler
                                                                                                                                                                                                                                                                                                                        • >>   CAN1_RX0_IRQHandler
                                                                                                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                                                                                                        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 -
                                                                                                                                                                                                                                                                                                                        • >>   TIM_Cmd +
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   TIM_SetCounter +
                                                                                                                                                                                                                                                                                                                          • >>   TIM_Cmd

                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                          • >>   CAN2_RX1_IRQHandler
                                                                                                                                                                                                                                                                                                                          • >>   CAN1_RX0_IRQHandler
                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                          M2006_CANDataProcess (Thumb, 970 bytes, Stack size 24 bytes, m2006.o(i.M2006_CANDataProcess)) +

                                                                                                                                                                                                                                                                                                                          M2006_CANDataProcess (Thumb, 970 bytes, Stack size 24 bytes, m2006.o(i.M2006_CANDataProcess))

                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                          • Max Depth = 88
                                                                                                                                                                                                                                                                                                                          • Call Chain = M2006_CANDataProcess ⇒ __aeabi_ldivmod ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_l2f -
                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_f2lz +
                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_l2f +
                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_f2lz
                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_ldivmod

                                                                                                                                                                                                                                                                                                                            [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 +
                                                                                                                                                                                                                                                                                                                              [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)) +

                                                                                                                                                                                                                                                                                                                                M3508_CANDataProcess (Thumb, 998 bytes, Stack size 24 bytes, m3508.o(i.M3508_CANDataProcess))

                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                • Max Depth = 88
                                                                                                                                                                                                                                                                                                                                • Call Chain = M3508_CANDataProcess ⇒ __aeabi_ldivmod ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_l2f -
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_f2lz +
                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_l2f +
                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_f2lz
                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_ldivmod

                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                  • >>   CAN1_RX0_IRQHandler
                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                  M3508_CANSetLIDCurrent (Thumb, 146 bytes, Stack size 48 bytes, m3508.o(i.M3508_CANSetLIDCurrent)) +

                                                                                                                                                                                                                                                                                                                                  M3508_CANSetLIDCurrent (Thumb, 146 bytes, Stack size 48 bytes, m3508.o(i.M3508_CANSetLIDCurrent))

                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                  • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                  • Call Chain = M3508_CANSetLIDCurrent ⇒ CAN_TransmitStatus
                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                  • >>   CAN_TransmitStatus -
                                                                                                                                                                                                                                                                                                                                  • >>   CAN_Transmit +
                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                    • >>   CAN_TransmitStatus +
                                                                                                                                                                                                                                                                                                                                    • >>   CAN_Transmit
                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_FiringMechanismControl -
                                                                                                                                                                                                                                                                                                                                    • >>   Warming_MotorControl +
                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_FiringMechanismControl +
                                                                                                                                                                                                                                                                                                                                      • >>   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 +
                                                                                                                                                                                                                                                                                                                                          [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 +
                                                                                                                                                                                                                                                                                                                                              [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 +
                                                                                                                                                                                                                                                                                                                                                  [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 +
                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                      • >>   GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                      • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                      • >>   MyI2C_SDA +
                                                                                                                                                                                                                                                                                                                                                      • >>   MyI2C_SCL
                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                      • >>   IST8310_Init +
                                                                                                                                                                                                                                                                                                                                                        [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 +
                                                                                                                                                                                                                                                                                                                                                            [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 +
                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                          • >>   GPIO_WriteBit +
                                                                                                                                                                                                                                                                                                                                                                          • >>   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 +
                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                              • >>   GPIO_WriteBit +
                                                                                                                                                                                                                                                                                                                                                                              • >>   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 +
                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   IST8310_Init

                                                                                                                                                                                                                                                                                                                                                                                                    NMI_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.NMI_Handler))
                                                                                                                                                                                                                                                                                                                                                                                                    [Address Reference Count : 1]

                                                                                                                                                                                                                                                                                                                                                                                                    • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                    NVIC_Init (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                                    NVIC_Init (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init))

                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = NVIC_Init
                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   IST8310_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Remote_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   CAN_CANInit -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   UART2_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   UART1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   LinkCheck_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   IST8310_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CAN_CANInit +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART2_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART1_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CloseLoopControl_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 -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CAN_CANInit -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART2_Init -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   UART1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CloseLoopControl_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 +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CAN_CANInit +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   UART2_Init +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   UART1_Init +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CloseLoopControl_Init +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LinkCheck_Init
                                                                                                                                                                                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_Rammer -
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_FiringMechanismControl -
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   IMUTemperatureControl_TemperatureControl +

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

                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_YawControl +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_Rammer +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_PitchControl +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_FiringMechanismControl +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IMUTemperatureControl_TemperatureControl
                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                          PID_PositionClean (Thumb, 18 bytes, Stack size 0 bytes, pid.o(i.PID_PositionClean)) -

                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_CleanPID +

                                                                                                                                                                                                                                                                                                                                                                                                            PID_PositionClean (Thumb, 18 bytes, Stack size 0 bytes, pid.o(i.PID_PositionClean)) +

                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_CleanPID
                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                            PID_PositionSetEkRange (Thumb, 10 bytes, Stack size 0 bytes, pid.o(i.PID_PositionSetEkRange)) -

                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                            • >>   IMUTemperatureControl_PIDInit -
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Gimbal_Init +

                                                                                                                                                                                                                                                                                                                                                                                                              PID_PositionSetEkRange (Thumb, 10 bytes, Stack size 0 bytes, pid.o(i.PID_PositionSetEkRange)) +

                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                              • >>   IMUTemperatureControl_PIDInit +
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                              PID_PositionSetOUTRange (Thumb, 10 bytes, Stack size 0 bytes, pid.o(i.PID_PositionSetOUTRange)) -

                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                              • >>   IMUTemperatureControl_PIDInit -
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Gimbal_Init +

                                                                                                                                                                                                                                                                                                                                                                                                                PID_PositionSetOUTRange (Thumb, 10 bytes, Stack size 0 bytes, pid.o(i.PID_PositionSetOUTRange)) +

                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                • >>   IMUTemperatureControl_PIDInit +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                PID_PositionSetParameter (Thumb, 14 bytes, Stack size 0 bytes, pid.o(i.PID_PositionSetParameter)) -

                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                • >>   IMUTemperatureControl_PIDInit -
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_Init +

                                                                                                                                                                                                                                                                                                                                                                                                                  PID_PositionSetParameter (Thumb, 14 bytes, Stack size 0 bytes, pid.o(i.PID_PositionSetParameter)) +

                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   IMUTemperatureControl_PIDInit +
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_Init
                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                  PID_PositionStructureInit (Thumb, 78 bytes, Stack size 0 bytes, pid.o(i.PID_PositionStructureInit)) -

                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   IMUTemperatureControl_PIDInit -
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_Init +

                                                                                                                                                                                                                                                                                                                                                                                                                    PID_PositionStructureInit (Thumb, 78 bytes, Stack size 0 bytes, pid.o(i.PID_PositionStructureInit)) +

                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   IMUTemperatureControl_PIDInit +
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_Init

                                                                                                                                                                                                                                                                                                                                                                                                                    PendSV_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.PendSV_Handler))
                                                                                                                                                                                                                                                                                                                                                                                                                    [Address Reference Count : 1]

                                                                                                                                                                                                                                                                                                                                                                                                                    • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                    RCC_AHB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)) -

                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

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

                                                                                                                                                                                                                                                                                                                                                                                                                      RCC_AHB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)) +

                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Laser_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   IST8310_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Buzzer_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   LED_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CAN_CANInit +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   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 -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Buzzer_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CAN_CANInit -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   LinkCheck_Init +

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

                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Buzzer_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CAN_CANInit +
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CloseLoopControl_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 -
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AttitudeAlgorithms_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 +
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   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, 550 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_Cmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   GPIO_PinAFConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   GPIO_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   IWDG_WriteAccessCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   IWDG_SetReload -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   IWDG_SetPrescaler -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   IWDG_Enable -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   RCC_APB1PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   USART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   USART_ITConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   USART_DMACmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   USART_Cmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   TIM_TimeBaseInit -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   TIM_InternalClockConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   TIM_ITConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   TIM_Cmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   TIM_ClearFlag +
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   NVIC_PriorityGroupConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   NVIC_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_DoubleBufferModeConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_DoubleBufferModeCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   GPIO_PinAFConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IWDG_WriteAccessCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IWDG_SetReload +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IWDG_SetPrescaler +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IWDG_Enable +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   RCC_APB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_ITConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_DMACmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM_TimeBaseInit +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM_InternalClockConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM_ITConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM_ClearFlag

                                                                                                                                                                                                                                                                                                                                                                                                                                          [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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_GetFlagStatus -
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_GetCmdStatus -
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_Cmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   DMA_ClearFlag +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   DMA_SetCurrDataCounter +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   DMA_GetFlagStatus +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   DMA_GetCmdStatus +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   DMA_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   DMA_ClearFlag

                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   USART3_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                            SPI_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_Cmd)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   BMI088_Init +

                                                                                                                                                                                                                                                                                                                                                                                                                                              SPI_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_Cmd)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   BMI088_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                              SPI_I2S_DMACmd (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_DMACmd)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   BMI088_Init +

                                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_I2S_DMACmd (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_DMACmd)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BMI088_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                SPI_I2S_GetFlagStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_GetFlagStatus)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BMI088_SPI_GyroWriteRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BMI088_SPI_GyroReadRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BMI088_SPI_AccelWriteRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BMI088_SPI_AccelReadRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BMI088_CheckAndCloseDMA +

                                                                                                                                                                                                                                                                                                                                                                                                                                                  SPI_I2S_GetFlagStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_GetFlagStatus)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_GyroWriteRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_GyroReadRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_AccelWriteRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_AccelReadRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_CheckAndCloseDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                  SPI_I2S_ReceiveData (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_ReceiveData)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_GyroWriteRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_GyroReadRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_AccelWriteRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_SPI_AccelReadRegister +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPI_I2S_ReceiveData (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_ReceiveData)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_GyroWriteRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_GyroReadRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_AccelWriteRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_AccelReadRegister
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPI_I2S_SendData (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_SendData)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_GyroWriteRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_GyroReadRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_AccelWriteRegister -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_SPI_AccelReadRegister +

                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPI_I2S_SendData (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_SendData)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_SPI_GyroWriteRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_SPI_GyroReadRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_SPI_AccelWriteRegister +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_SPI_AccelReadRegister
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPI_Init (Thumb, 60 bytes, Stack size 8 bytes, stm32f4xx_spi.o(i.SPI_Init)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPI_Init (Thumb, 60 bytes, Stack size 8 bytes, stm32f4xx_spi.o(i.SPI_Init))

                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = SPI_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_Init

                                                                                                                                                                                                                                                                                                                                                                                                                                                        SVC_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.SVC_Handler))
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 1]

                                                                                                                                                                                                                                                                                                                                                                                                                                                        • startup_stm32f40_41xxx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYSCFG_EXTILineConfig (Thumb, 60 bytes, Stack size 12 bytes, stm32f4xx_syscfg.o(i.SYSCFG_EXTILineConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYSCFG_EXTILineConfig (Thumb, 60 bytes, Stack size 12 bytes, stm32f4xx_syscfg.o(i.SYSCFG_EXTILineConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = SYSCFG_EXTILineConfig
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   IST8310_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IST8310_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   BMI088_Init

                                                                                                                                                                                                                                                                                                                                                                                                                                                          SysTick_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.SysTick_Handler)) @@ -2012,70 +1981,70 @@ 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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_update -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_l2f +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   TIM_GetITStatus +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   TIM_ClearITPendingBit +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   kalmanFilter +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   get_angle +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_l2f

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                              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_Rammer ⇒ M2006_CANSetHIDCurrent ⇒ CAN_TransmitStatus +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIM8_UP_TIM13_IRQHandler (Thumb, 68 bytes, Stack size 8 bytes, linkcheck.o(i.TIM8_UP_TIM13_IRQHandler))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = TIM8_UP_TIM13_IRQHandler ⇒ TIM_GetITStatus
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CAN_CAN_GetRefereeSystemData -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   CAN_CANIDReset -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   TIM_GetITStatus -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   TIM_ClearITPendingBit +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CAN_CAN_GetRefereeSystemData +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CAN_CANIDReset +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LinkCheck_Init +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CloseLoopControl_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 @@ -2083,20 +2052,20 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM8_UP_TIM13_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART3_IRQHandler -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Remote_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_ON -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LinkCheck_ON -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LinkCheck_OFF +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_ON +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LinkCheck_ON +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LinkCheck_OFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART6_IRQHandler -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LinkCheck_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CloseLoopControl_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 @@ -2106,155 +2075,154 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   TIM8_UP_TIM13_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Remote_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LinkCheck_Init +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   CloseLoopControl_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LinkCheck_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Remote_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Buzzer_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LinkCheck_Init +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Buzzer_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   CloseLoopControl_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   LinkCheck_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIM_OC3Init (Thumb, 150 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC3Init)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIM_OC3Init (Thumb, 150 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC3Init))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = TIM_OC3Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   Buzzer_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Buzzer_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIM_OCStructInit (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OCStructInit)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Buzzer_Init +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIM_OCStructInit (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OCStructInit)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Buzzer_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Buzzer_ON +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [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_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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LinkCheck_ON
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   USART6_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Remote_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Buzzer_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LinkCheck_Init +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CloseLoopControl_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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   NVIC_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   GPIO_PinAFConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   GPIO_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   RCC_APB2PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_ITConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   USART_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   NVIC_PriorityGroupConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   NVIC_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   GPIO_PinAFConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   RCC_APB2PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   NVIC_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   GPIO_PinAFConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   GPIO_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   RCC_APB2PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   RCC_AHB1PeriphClockCmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   USART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   USART_ITConfig -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   USART_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   NVIC_PriorityGroupConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   NVIC_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   GPIO_PinAFConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   RCC_APB2PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   USART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   USART_ITConfig +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   USART_Cmd
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   Visual_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Visual_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

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

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

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

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

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = USART1_IRQHandler ⇒ Visual_Trans ⇒ atoi ⇒ strtol ⇒ _strtoul +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   TIM_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [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)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   TIM_Cmd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Keyboard_DataProcess -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   RefereeSystem_VerifyCRC8CheckSum -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   RefereeSystem_VerifyCRC16CheckSum +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Warming_LEDClean +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   USART_ReceiveData +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   USART_GetITStatus +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   USART_ClearITPendingBit +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   TIM_SetCounter +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   TIM_Cmd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   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 @@ -2262,436 +2230,412 @@ 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_SendData (Thumb, 58 bytes, Stack size 32 bytes, visual.o(i.Visual_SendData)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 184
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   UART2_Printf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_f2d -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   main -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    - -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Visual_Trans (Thumb, 356 bytes, Stack size 32 bytes, visual.o(i.Visual_Trans)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = Visual_Trans ⇒ atoi ⇒ strtol ⇒ _strtoul -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   atoi -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   strtok -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   strcmp -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_memclr -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   main +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   main
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   USART1_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   BMI088_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Warming_BuzzerClean (Thumb, 10 bytes, Stack size 8 bytes, warming.o(i.Warming_BuzzerClean)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Warming_BuzzerClean (Thumb, 10 bytes, Stack size 8 bytes, warming.o(i.Warming_BuzzerClean))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = Warming_BuzzerClean ⇒ Buzzer_ON
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_ON +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   Buzzer_ON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   CAN2_RX1_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   Buzzer_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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Buzzer_ON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   GM6020_CAN2SetLIDVoltage -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   M3508_CANSetLIDCurrent +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [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)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __aeabi_errno_addr (Thumb, 4 bytes, Stack size 0 bytes, errno.o(i.__aeabi_errno_addr)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   _strtoul -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   strtol -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   atoi -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    - -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __rt_errno_addr (Thumb, 0 bytes, Stack size 0 bytes, errno.o(i.__aeabi_errno_addr), UNUSED) - -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_asinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_atan2f
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 28
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = __hardfp_cosf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __set_errno -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_rredf2 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __set_errno +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __mathlib_flt_infnan
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   AHRS_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AHRS_sinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_invSqrt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __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_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)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_atan2f +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            __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)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __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)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sqrtf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_cosf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_atan2f -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_asinf +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   sqrtf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_sqrtf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AHRS_asinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AHRS_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   AHRS_asinf

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   TIM1_TRG_COM_TIM11_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   TIM1_TRG_COM_TIM11_IRQHandler +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_PitchControl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   TIM1_TRG_COM_TIM11_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        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 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Delay_us -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Delay_s -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   RefereeSystem_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AttitudeAlgorithms_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CloseLoopControl_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CToC_MasterSendData -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   CToC_MasterSendControl -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Warming_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   LinkCheck_Init -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Visual_Trans -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Visual_SendData -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   Visual_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   IWDG_ReloadCounter +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Remote_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   LED_BON +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   UART2_Printf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Delay_us +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Delay_s +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   RefereeSystem_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AttitudeAlgorithms_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CloseLoopControl_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CToC_MasterSendData +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   CToC_MasterSendControl +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_asinf

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              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
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CheckITStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CheckITStatus)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   CAN_GetITStatus +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CheckITStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CheckITStatus)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [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)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   accel_update_kp_ki
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [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 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   AHRS_fabs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   accel_comple_filter +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   accel_comple_filter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_to_quat (Thumb, 364 bytes, Stack size 48 bytes, ahrs.o(i.angle_to_quat)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_to_quat (Thumb, 364 bytes, Stack size 48 bytes, ahrs.o(i.angle_to_quat))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AHRS_sinf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   AHRS_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   AHRS_init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              quat_normalization (Thumb, 126 bytes, Stack size 16 bytes, ahrs.o(i.quat_normalization)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              quat_normalization (Thumb, 126 bytes, Stack size 16 bytes, ahrs.o(i.quat_normalization))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = quat_normalization ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_invSqrt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   AHRS_update
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  update_w (Thumb, 122 bytes, Stack size 0 bytes, ahrs.o(i.update_w)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   AHRS_update +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    update_w (Thumb, 122 bytes, Stack size 0 bytes, ahrs.o(i.update_w)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [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_dmul +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_dadd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __aeabi_d2ulz +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __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 89e194a..2488c6c 100644 --- a/云台/云台/Objects/Project_Target 1.dep +++ b/云台/云台/Objects/Project_Target 1.dep @@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (System\MyI2C.h)(0x65C0681A) F (.\System\MyI2C.h)(0x65C0681A)() -F (.\System\CAN.c)(0x669D1A12)(--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\can.o --omf_browse .\objects\can.crf --depend .\objects\can.d) +F (.\System\CAN.c)(0x67E27445)(--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\can.o --omf_browse .\objects\can.crf --depend .\objects\can.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) @@ -1886,7 +1886,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (Hardware\Buzzer.h)(0x6513BE16) I (.\System\Delay.h)(0x64FBE4AA) F (.\Hardware\Buzzer.h)(0x6513BE16)() -F (.\Hardware\Remote.c)(0x67DE7A2A)(--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\remote.o --omf_browse .\objects\remote.crf --depend .\objects\remote.d) +F (.\Hardware\Remote.c)(0x67B6EB1D)(--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\remote.o --omf_browse .\objects\remote.crf --depend .\objects\remote.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) @@ -1921,11 +1921,11 @@ 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 (Hardware\Remote.h)(0x67DE79C2) +I (Hardware\Remote.h)(0x669D1538) I (.\System\UART.h)(0x669D08B6) I (.\Function\Warming.h)(0x66A19ADE) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) -F (.\Hardware\Remote.h)(0x67DE79C2)() +F (.\Hardware\Remote.h)(0x669D1538)() F (.\Hardware\BMI088.c)(0x65F6838A)(--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\bmi088.o --omf_browse .\objects\bmi088.crf --depend .\objects\bmi088.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) @@ -2188,11 +2188,11 @@ I (.\Library\stm32f4xx_dac.h)(0x64D03164) I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\System\TIM.h)(0x64FCC4A4) -I (.\Hardware\Remote.h)(0x67DE79C2) +I (.\Hardware\Remote.h)(0x669D1538) I (.\System\CAN.h)(0x65FA62FA) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) F (.\Function\LinkCheck.h)(0x65FBCE1A)() -F (.\Function\Warming.c)(0x66A19AB4)(--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\warming.o --omf_browse .\objects\warming.crf --depend .\objects\warming.d) +F (.\Function\Warming.c)(0x6907412C)(--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\warming.o --omf_browse .\objects\warming.crf --depend .\objects\warming.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) @@ -2236,7 +2236,7 @@ I (.\Motor\GM6020.h)(0x669D1130) I (.\Motor\M3508.h)(0x669D1100) I (.\Motor\M2006.h)(0x669D1190) F (.\Function\Warming.h)(0x66A19ADE)() -F (.\Function\CToC.c)(0x67DE79C2)(--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\ctoc.o --omf_browse .\objects\ctoc.crf --depend .\objects\ctoc.d) +F (.\Function\CToC.c)(0x669D344E)(--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\ctoc.o --omf_browse .\objects\ctoc.crf --depend .\objects\ctoc.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) @@ -2271,12 +2271,12 @@ 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 (.\Hardware\Remote.h)(0x67DE79C2) +I (.\Hardware\Remote.h)(0x669D1538) I (Function\CToC.h)(0x669D31F6) -I (.\User\Parameter.h)(0x68F1BE53) +I (.\User\Parameter.h)(0x67E27657) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) F (.\Function\CToC.h)(0x669D31F6)() -F (.\Function\CloseLoopControl.c)(0x68AEFC16)(--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) +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) 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) @@ -2311,7 +2311,7 @@ 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 (.\Hardware\Remote.h)(0x67DE79C2) +I (.\Hardware\Remote.h)(0x669D1538) I (Function\IMUTemperatureControl.h)(0x65C36CAE) I (Function\LinkCheck.h)(0x65FBCE1A) I (Function\Warming.h)(0x66A19ADE) @@ -2397,7 +2397,7 @@ I (.\Library\stm32f4xx_dac.h)(0x64D03164) I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\Hardware\BMI088.h)(0x65C25DDC) -I (.\Control\PID.h)(0x68BF8A63) +I (.\Control\PID.h)(0x6503C236) I (Function\Warming.h)(0x66A19ADE) F (.\Function\IMUTemperatureControl.h)(0x65C36CAE)() F (.\Control\PID.c)(0x6503C2C2)(--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\pid.o --omf_browse .\objects\pid.crf --depend .\objects\pid.d) @@ -2435,14 +2435,14 @@ 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 (Control\PID.h)(0x68BF8A63) -F (.\Control\PID.h)(0x68BF8A63)() +I (Control\PID.h)(0x6503C236) +F (.\Control\PID.h)(0x6503C236)() F (.\Control\WaveFiltering_Kalman_Filtering.c)(0x67B836EC)(--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\wavefiltering_kalman_filtering.o --omf_browse .\objects\wavefiltering_kalman_filtering.crf --depend .\objects\wavefiltering_kalman_filtering.d) 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)(0x69075F4E)(--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)(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) 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) @@ -2477,9 +2477,9 @@ 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)(0x68F1BE53) -I (.\Control\PID.h)(0x68BF8A63) -I (.\Hardware\Remote.h)(0x67DE79C2) +I (.\User\Parameter.h)(0x67E27657) +I (.\Control\PID.h)(0x6503C236) +I (.\Hardware\Remote.h)(0x669D1538) I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) I (.\Motor\M3508.h)(0x669D1100) I (.\Motor\M2006.h)(0x669D1190) @@ -2528,10 +2528,10 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (CarBody\RefereeSystem_CRCTable.h)(0x66A1BDA0) I (CarBody\Keyboard.h)(0x66A1BD42) I (.\Function\Warming.h)(0x66A19ADE) -I (.\Hardware\Remote.h)(0x67DE79C2) +I (.\Hardware\Remote.h)(0x669D1538) F (.\CarBody\RefereeSystem.h)(0x66A1C17E)() F (.\Carbody\RefereeSystem_CRCTable.h)(0x66A1BDA0)() -F (.\CarBody\Visual.c)(0x68F9B7FE)(--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\visual.o --omf_browse .\objects\visual.crf --depend .\objects\visual.d) +F (.\CarBody\Visual.c)(0x67DF88FB)(--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\visual.o --omf_browse .\objects\visual.crf --depend .\objects\visual.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) @@ -2573,9 +2573,6 @@ I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) I (.\System\Delay.h)(0x64FBE4AA) I (.\Hardware\Buzzer.h)(0x6513BE16) I (.\Motor\GM6020.h)(0x669D1130) -I (.\Control\PID.h)(0x68BF8A63) -I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2) -I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2) F (.\CarBody\Visual.h)(0x67B846AB)() F (.\CarBody\Keyboard.c)(0x66A1BD42)(--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\keyboard.o --omf_browse .\objects\keyboard.crf --depend .\objects\keyboard.d) I (.\Start\stm32f4xx.h)(0x66256792) @@ -2613,9 +2610,9 @@ I (.\Library\stm32f4xx_dac.h)(0x64D03164) I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\System\UART.h)(0x669D08B6) -I (.\Hardware\Remote.h)(0x67DE79C2) +I (.\Hardware\Remote.h)(0x669D1538) F (.\CarBody\Keyboard.h)(0x66A1BD42)() -F (.\User\main.c)(0x68F791A8)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) +F (.\User\main.c)(0x6907412A)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) 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) @@ -2656,7 +2653,7 @@ I (.\System\Delay.h)(0x64FBE4AA) I (.\System\TIM.h)(0x64FCC4A4) I (.\Hardware\LED.h)(0x64F06CF6) I (.\Hardware\Buzzer.h)(0x6513BE16) -I (.\Hardware\Remote.h)(0x67DE79C2) +I (.\Hardware\Remote.h)(0x669D1538) I (.\Hardware\BMI088.h)(0x65C25DDC) I (.\Hardware\IST8310.h)(0x65BE1E28) I (.\Hardware\Laser.h)(0x65C3A0BC) @@ -2666,20 +2663,20 @@ I (.\Motor\M2006.h)(0x669D1190) I (.\System\UART.h)(0x669D08B6) I (.\System\MyI2C.h)(0x65C0681A) I (.\System\CAN.h)(0x65FA62FA) -I (.\Control\PID.h)(0x68BF8A63) +I (.\Control\PID.h)(0x6503C236) I (.\Function\LinkCheck.h)(0x65FBCE1A) I (.\Function\CloseLoopControl.h)(0x65B10F2C) I (.\Function\CToC.h)(0x669D31F6) I (.\Function\IMUTemperatureControl.h)(0x65C36CAE) I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) I (.\Function\Warming.h)(0x66A19ADE) -I (User\Parameter.h)(0x68F1BE53) +I (User\Parameter.h)(0x67E27657) 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)(0x68F1BE53)() +F (.\User\Parameter.h)(0x67E27657)() 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/can.crf b/云台/云台/Objects/can.crf index f062474..623f9d2 100644 Binary files a/云台/云台/Objects/can.crf and b/云台/云台/Objects/can.crf differ diff --git a/云台/云台/Objects/closeloopcontrol.crf b/云台/云台/Objects/closeloopcontrol.crf index 8f79bed..a7dc0ab 100644 Binary files a/云台/云台/Objects/closeloopcontrol.crf and b/云台/云台/Objects/closeloopcontrol.crf differ diff --git a/云台/云台/Objects/ctoc.crf b/云台/云台/Objects/ctoc.crf index fdee3c9..ee0923b 100644 Binary files a/云台/云台/Objects/ctoc.crf and b/云台/云台/Objects/ctoc.crf differ diff --git a/云台/云台/Objects/gimbal.crf b/云台/云台/Objects/gimbal.crf index a35d1ca..f7b8168 100644 Binary files a/云台/云台/Objects/gimbal.crf and b/云台/云台/Objects/gimbal.crf differ diff --git a/云台/云台/Objects/imutemperaturecontrol.crf b/云台/云台/Objects/imutemperaturecontrol.crf index 4777087..8546b7a 100644 Binary files a/云台/云台/Objects/imutemperaturecontrol.crf and b/云台/云台/Objects/imutemperaturecontrol.crf differ diff --git a/云台/云台/Objects/keyboard.crf b/云台/云台/Objects/keyboard.crf index d5dafc8..81f8c5e 100644 Binary files a/云台/云台/Objects/keyboard.crf and b/云台/云台/Objects/keyboard.crf differ diff --git a/云台/云台/Objects/linkcheck.crf b/云台/云台/Objects/linkcheck.crf index 0abe00f..7163f13 100644 Binary files a/云台/云台/Objects/linkcheck.crf and b/云台/云台/Objects/linkcheck.crf differ diff --git a/云台/云台/Objects/main.crf b/云台/云台/Objects/main.crf index 05af7e6..86cbf06 100644 Binary files a/云台/云台/Objects/main.crf and b/云台/云台/Objects/main.crf differ diff --git a/云台/云台/Objects/pid.crf b/云台/云台/Objects/pid.crf index 4529af1..8f9c624 100644 Binary files a/云台/云台/Objects/pid.crf and b/云台/云台/Objects/pid.crf differ diff --git a/云台/云台/Objects/refereesystem.crf b/云台/云台/Objects/refereesystem.crf index 0b14fcf..1cebdde 100644 Binary files a/云台/云台/Objects/refereesystem.crf and b/云台/云台/Objects/refereesystem.crf differ diff --git a/云台/云台/Objects/remote.crf b/云台/云台/Objects/remote.crf index c43d399..af695ba 100644 Binary files a/云台/云台/Objects/remote.crf and b/云台/云台/Objects/remote.crf differ diff --git a/云台/云台/Objects/visual.crf b/云台/云台/Objects/visual.crf index f4902c7..d7a710e 100644 Binary files a/云台/云台/Objects/visual.crf and b/云台/云台/Objects/visual.crf differ diff --git a/云台/云台/Objects/warming.crf b/云台/云台/Objects/warming.crf index 62d2e46..15513cc 100644 Binary files a/云台/云台/Objects/warming.crf and b/云台/云台/Objects/warming.crf differ diff --git a/云台/云台/Project.uvguix.LSMushui b/云台/云台/Project.uvguix.LSMushui index fe0cf1f..20a79fe 100644 --- a/云台/云台/Project.uvguix.LSMushui +++ b/云台/云台/Project.uvguix.LSMushui @@ -15,7 +15,7 @@ 38003 Registers - 124 79 + 143 143 346 @@ -40,7 +40,7 @@ 1506 Symbols - 71 71 71 + 80 80 80 1936 @@ -110,8 +110,8 @@ 0 - 60 - 010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000 + 724 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000005000000000000000100000051433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C6865726F2D746573745C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF57433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C6865726F2D746573745C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C46756E6374696F6E5C5761726D696E672E6300000000095761726D696E672E6300000000FFDC7800FFFFFFFF50433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C6865726F2D746573745C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF59433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C6865726F2D746573745C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C46756E6374696F6E5C4C696E6B436865636B2E63000000000B4C696E6B436865636B2E6300000000F0A0A100FFFFFFFF56433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C6865726F2D746573745C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C48617264776172655C42757A7A65722E63000000000842757A7A65722E6300000000BCA8E100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C0100006600000080070000DE020000 @@ -150,11 +150,11 @@ 0 16 - 0300000066000000D2000000D3020000 + 030000006600000025010000AE020000 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -170,11 +170,11 @@ 0 16 - 0300000066000000D2000000D3020000 + 030000006600000025010000AE020000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -194,7 +194,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -214,7 +214,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -234,7 +234,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -254,7 +254,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -274,7 +274,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -294,7 +294,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -314,7 +314,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -334,7 +334,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -354,7 +354,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -374,7 +374,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -394,7 +394,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -414,7 +414,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -434,7 +434,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -450,11 +450,11 @@ 0 16 - 0300000066000000D2000000D3020000 + 030000006600000025010000AE020000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -470,11 +470,11 @@ 0 16 - 0300000066000000D2000000D3020000 + 030000006600000025010000AE020000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -490,11 +490,11 @@ 0 16 - 0000000004030000AB0600006E030000 + 00000000DF02000080070000E6030000 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -514,7 +514,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -530,11 +530,11 @@ 0 16 - 0300000007030000A806000055030000 + 03000000E2020000A8060000CD030000 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -554,7 +554,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -574,7 +574,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -614,7 +614,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -634,7 +634,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -654,7 +654,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -674,7 +674,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -694,7 +694,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -714,7 +714,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -734,7 +734,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -754,7 +754,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -774,7 +774,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -794,7 +794,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -814,7 +814,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -834,7 +834,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -854,7 +854,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -874,7 +874,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -894,7 +894,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -914,7 +914,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -934,7 +934,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -954,7 +954,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -974,7 +974,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -994,7 +994,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1014,7 +1014,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1034,7 +1034,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1054,7 +1054,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1074,7 +1074,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1094,7 +1094,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1114,7 +1114,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1134,7 +1134,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1150,11 +1150,11 @@ 0 16 - 0300000066000000D2000000D3020000 + 03000000660000002501000036020000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -1170,11 +1170,11 @@ 0 16 - 0300000007030000A806000055030000 + 03000000E2020000A8060000CD030000 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -1190,11 +1190,11 @@ 0 16 - 0300000007030000A806000055030000 + 03000000E2020000A8060000CD030000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -1214,7 +1214,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1234,7 +1234,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1250,11 +1250,11 @@ 0 16 - 0300000007030000A806000055030000 + 03000000E2020000A8060000CD030000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -1270,11 +1270,11 @@ 0 16 - 0300000007030000A806000055030000 + 03000000E2020000A8060000CD030000 16 - BE000000D5000000BA010000CD020000 + 560000006D0000005201000065020000 @@ -1294,7 +1294,7 @@ 16 - BE000000D50000003603000053010000 + 560000006D000000CE020000EB000000 @@ -1314,7 +1314,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1334,7 +1334,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1354,7 +1354,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1374,7 +1374,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1394,7 +1394,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1414,7 +1414,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1434,7 +1434,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ -1454,7 +1454,7 @@ 16 - BE000000D50000009301000088010000 + 560000006D0000002B01000020010000 @@ 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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ### uVision Project, (C) Keil Software
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- - - - 0 - 2048 - 1152 + 1707 + 960 - - 1 - 0 - - 100 - 0 - - .\Function\AttitudeAlgorithms.c - 0 - 1 - 1 - 1 - - 0 - - - .\Start\startup_stm32f40_41xxx.s - 0 - 167 - 178 - 1 - - 0 - - - .\User\main.c - 0 - 16 - 18 - 1 - - 0 - - - - diff --git a/云台/云台/Project.uvoptx b/云台/云台/Project.uvoptx index 50de9e2..d4dc654 100644 --- a/云台/云台/Project.uvoptx +++ b/云台/云台/Project.uvoptx @@ -120,7 +120,7 @@ 0 CMSIS_AGDI - -X"WCH CMSIS-DAP" -UF3EE87FE11CC -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) + -X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) 0 @@ -2098,7 +2098,7 @@ CarBody - 1 + 0 0 0 0 @@ -2214,7 +2214,7 @@ User - 0 + 1 0 0 0 diff --git a/云台/云台/System/CAN.c b/云台/云台/System/CAN.c index 2d6a606..682c47d 100644 --- a/云台/云台/System/CAN.c +++ b/云台/云台/System/CAN.c @@ -9,10 +9,10 @@ #include "CToC.h" #include "RefereeSystem.h" -uint8_t CAN_CAN1DeviceNumber=4;//CAN1总线上设备数量 +uint8_t CAN_CAN1DeviceNumber=6;//CAN1总线上设备数量 uint8_t CAN_CAN2DeviceNumber=2;//CAN2总线上设备数量 -uint8_t CAN_DeviceNumber=6;//CAN总线上设备数量 -uint32_t CAN_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M2006,M2006_7},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},0};//CAN1总线上设备ID列表 +uint8_t CAN_DeviceNumber=8;//CAN总线上设备数量 +uint32_t CAN_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},{CAN_M3508,M3508_7},0};//CAN1总线上设备ID列表 uint32_t CAN_CAN2IDList[10][2]={{CAN_GM6020,GM6020_1},{CAN_RoboMasterC,CToC_MasterID1},0};//CAN2总线上设备ID列表 int8_t CAN_IDSelect=0;//CAN总线上ID列表选择位 @@ -222,7 +222,7 @@ void CAN1_RX0_IRQHandler(void) { RefereeSystem_ShooterOpenCounter=0; RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间 - CAN_CAN1DeviceNumber=4;//添加CAN设备 + CAN_CAN1DeviceNumber=5;//添加CAN设备 CAN_DeviceNumber=6; } } diff --git a/云台/云台/User/Parameter.h b/云台/云台/User/Parameter.h index 9325010..0fe1608 100644 --- a/云台/云台/User/Parameter.h +++ b/云台/云台/User/Parameter.h @@ -2,19 +2,19 @@ #define __PARAMETER_H /*=============================================结构参数=============================================*/ -#define Yaw_GM6020PositionValue 4000//Yaw轴编码器值4050 +#define Yaw_GM6020PositionValue 1000//Yaw轴编码器值4050 #define Pitch_GM6020PositionValue 3245//Pitch轴编码器值 -#define Pitch_GM6020PositionLowerLinit 3500//Pitch轴编码器值下限 -#define Pitch_GM6020PositionUpperLinit 2700//Pitch轴编码器值上限 -#define Pitch_GM6020AngleLowerLinit 15.0f//Pitch轴编码器值下限 -#define Pitch_GM6020AngleUpperLinit -10.0f//Pitch轴编码器值上限 +#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 +#define Pitch_GM6020AngleLowerLinit 5.0f//Pitch轴编码器值下限 +#define Pitch_GM6020AngleUpperLinit -20.0f//Pitch轴编码器值上限 /*=============================================云台参数=============================================*/ -#define Gimbal_FrictionWheelSpeed 5500//摩擦轮转速,弹速限制30m/s -#define Gimbal_RammerSpeed -5400//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限 +#define Gimbal_FrictionWheelSpeed -10000//摩擦轮转速,弹速限制30m/s +#define Gimbal_RammerSpeed -50//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限 -#define Gimbal_LeverSpeedMapRate 2.0f//云台俯仰拨杆速度映射比例 -#define Gimbal_YawPitchSpeedRate 3.0f//云台偏航俯仰速度比 +#define Gimbal_LeverSpeedMapRate 1.0f//云台俯仰拨杆速度映射比例 +#define Gimbal_YawPitchSpeedRate 2.0f//云台偏航俯仰速度比 /*=============================================操作手参数=============================================*/ #define PC_Go (Remote_RxData.Remote_Key_W)//前 diff --git a/云台/云台/User/main.c b/云台/云台/User/main.c index 228565a..3db7ef3 100644 --- a/云台/云台/User/main.c +++ b/云台/云台/User/main.c @@ -7,7 +7,7 @@ #include "visual.h" #include "UART.h" -#define DELAY_TIME 5 //D1定时的计数值 +#define DELAY_TIME 100 //D1定时的计数值 unsigned int Delay_Count; //D1的延时初始值 @@ -19,6 +19,7 @@ int main(void) LED_BON();//蓝灯点亮表示代码在运行 AttitudeAlgorithms_Init();//姿态解算初始化 Delay_s(1);//延时,等待校准和模块启动 + //CAN_CANInit();//CAN通讯初始化 LinkCheck_Init();//连接检测初始化 RefereeSystem_Init();//图传链路初始化 Visual_Init();//视觉初始化 @@ -54,7 +55,7 @@ int main(void) { Delay_Flag = 0; //定时到标志位清零 //Debug(); - Visual_SendData(); + //Visual_SendData(); Visual_Trans();//视觉数据传输 Delay_Count = DELAY_TIME; //计数值重装，为下一次非阻塞延时做准备 } @@ -62,7 +63,7 @@ int main(void) - Delay_us(1500);//CToC周期1.5ms + Delay_us(1000);//CToC周期1.5ms } }