diff --git a/Core/Src/main.c b/Core/Src/main.c index 6ff2e3dab2a67479a055d427c0c4b4edc1eeaf44..e86ed21da7f91075a3cafdec24e32138f4820ab7 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -31,13 +31,12 @@ /* USER CODE BEGIN Includes */ #include "bsp_can.h" #include "bsp_dbus.h" -#include "BMI088driver.h" -#include "ist8310driver.h" -#include "BMI088Middleware.h" -#include "math.h" -#include "MahonyAHRS.h" + +#include "apl_INS.h" + #include "drv_chassis.h" #include "drv_gimbal.h" + /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -68,46 +67,32 @@ void SystemClock_Config(void); /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ -fp32 mag[3]; -fp32 gyro[3], accel[3], temp, onto = 0; -fp32 INS_quat[4] = {1.0f, 0.0f, 0.0f, 0.0f}; -fp32 INS_angle[3] = {0.0f, 0.0f, 0.0f}; - -void get_angle(fp32 q[4], fp32 *yaw, fp32 *pitch, fp32 *roll) -{ - *yaw = atan2f(2.0f * (q[0] * q[3] + q[1] * q[2]), 2.0f * (q[0] * q[0] + q[1] * q[1]) - 1.0f); - *pitch = asinf(-2.0f * (q[1] * q[3] - q[0] * q[2])); - *roll = atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), 2.0f * (q[0] * q[0] + q[3] * q[3]) - 1.0f); -} +//TIM calback void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { if(GPIO_Pin == IST8310_DRDY_Pin) { - ist8310_read_mag(mag); + //ist8310_read_mag(mag); } } - - -int a, x = 1; void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef * htim) { if(htim == &htim3) { - BMI088_read(gyro, accel, &temp); + INS_get_data(); - MahonyAHRSupdate(INS_quat, gyro[0], gyro[1], gyro[2], accel[0], accel[1], accel[2], mag[0], mag[1], mag[2]); - get_angle(INS_quat, INS_angle, INS_angle + 1, INS_angle + 2); Chassis_RC(); Chassis_set_speed(vx, vy, vw, motor_speed); + Gimbal_RC(); Gimbal_set_angle(angle_yaw, angle_pitch); } } - +int ss = 1; /* USER CODE END 0 */ /** @@ -152,17 +137,12 @@ int main(void) Gimbal_init(); HAL_Delay(100); HAL_TIM_Base_Start_IT(&htim3); - a++; - //for(int i = 0; BMI088_init() && i <= 10; ++i, ++a) BMI088_delay_us(100); - x = BMI088_init(); - for(int i = 0; ist8310_init() && i <= 10; ++i, ++a) BMI088_delay_us(100); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ + + INS_init(); + while (1) { - a ++; + ss++; /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ diff --git a/Drivers/usr/AHRS.h b/Drivers/usr/AHRS.h new file mode 100644 index 0000000000000000000000000000000000000000..3ad6a343cad64bb26768eb9cad182c28ec92400c --- /dev/null +++ b/Drivers/usr/AHRS.h @@ -0,0 +1,61 @@ +#ifndef AHRS_H +#define AHRS_H + +#include "AHRS_MiddleWare.h" + +/** + * @brief 根据加速度的数据，磁力计的数据进行四元数初始化 + * @param[in] 需要初始化的四元数数组 + * @param[in] 用于初始化的加速度计,(x,y,z)不为空 单位 m/s2 + * @param[in] 用于初始化的磁力计计,(x,y,z)不为空 单位 uT + * @retval 返回空 + */ +extern void AHRS_init(fp32 quat[4], const fp32 accel[3], const fp32 mag[3]); + +/** + * @brief 根据陀螺仪的数据，加速度的数据，磁力计的数据进行四元数更新 + * @param[in] 需要更新的四元数数组 + * @param[in] 更新定时时间，固定定时调用，例如1000Hz，传入的数据为0.001f, + * @param[in] 用于更新的陀螺仪数据,数组顺序(x,y,z) 单位 rad + * @param[in] 用于初始化的加速度数据,数组顺序(x,y,z) 单位 m/s2 + * @param[in] 用于初始化的磁力计数据,数组顺序(x,y,z) 单位 uT + * @retval 1:更新成功, 0:更新失败 + */ +extern bool_t AHRS_update(fp32 quat[4], const fp32 timing_time, const fp32 gyro[3], const fp32 accel[3], const fp32 mag[3]); + +/** + * @brief 根据四元数大小计算对应的欧拉角偏航yaw + * @param[in] 四元数数组，不为NULL + * @retval 返回的偏航角yaw 单位 rad + */ +extern fp32 get_yaw(const fp32 quat[4]); + +/** + * @brief 根据四元数大小计算对应的欧拉角俯仰角 pitch + * @param[in] 四元数数组，不为NULL + * @retval 返回的俯仰角 pitch 单位 rad + */ +extern fp32 get_pitch(const fp32 quat[4]); +/** + * @brief 根据四元数大小计算对应的欧拉角横滚角 roll + * @param[in] 四元数数组，不为NULL + * @retval 返回的横滚角 roll 单位 rad + */ +extern fp32 get_roll(const fp32 quat[4]); + +/** + * @brief 根据四元数大小计算对应的欧拉角yaw，pitch，roll + * @param[in] 四元数数组，不为NULL + * @param[in] 返回的偏航角yaw 单位 rad + * @param[in] 返回的俯仰角pitch 单位 rad + * @param[in] 返回的横滚角roll 单位 rad + */ +extern void get_angle(const fp32 quat[4], fp32 *yaw, fp32 *pitch, fp32 *roll); +/** + * @brief 返回当前的重力加速度 + * @param[in] 空 + * @retval 返回重力加速度 单位 m/s2 + */ +extern fp32 get_carrier_gravity(void); + +#endif diff --git a/Drivers/usr/AHRS.lib b/Drivers/usr/AHRS.lib new file mode 100644 index 0000000000000000000000000000000000000000..b6ff02158e5740f50f0bad2d1883c122036b1d5c Binary files /dev/null and b/Drivers/usr/AHRS.lib differ diff --git a/Drivers/usr/AHRS_middleware.c b/Drivers/usr/AHRS_middleware.c new file mode 100644 index 0000000000000000000000000000000000000000..06236668e4c770779576c06178b0a318295af180 --- /dev/null +++ b/Drivers/usr/AHRS_middleware.c @@ -0,0 +1,144 @@ +/** + ****************************(C) COPYRIGHT 2019 DJI**************************** + * @file AHRS_MiddleWare.c/h + * @brief 姿态解算中间层，为姿态解算提供相关函数 + * @note + * @history + * Version Date Author Modification + * V1.0.0 Dec-26-2018 RM 1. 完成 + * + @verbatim + ============================================================================== + + ============================================================================== + @endverbatim + ****************************(C) COPYRIGHT 2019 DJI**************************** + */ + +#include "AHRS_MiddleWare.h" +#include "AHRS.h" +#include "math.h" +#include "main.h" +/** + * @brief 用于获取当前高度 + * @author RM + * @param[in] 高度的指针，fp32 + * @retval 返回空 + */ + +void AHRS_get_height(fp32* high) +{ + if (high != NULL) + { + *high = 0.0f; + } +} + +/** + * @brief 用于获取当前纬度 + * @author RM + * @param[in] 纬度的指针，fp32 + * @retval 返回空 + */ + +void AHRS_get_latitude(fp32* latitude) +{ + if (latitude != NULL) + { + *latitude = 22.0f; + } +} + +/** + * @brief 快速开方函数， + * @author RM + * @param[in] 输入需要开方的浮点数，fp32 + * @retval 返回1/sqrt 开方后的倒数 + */ + +fp32 AHRS_invSqrt(fp32 num) +{ + return 1/sqrtf(num); + +// fp32 halfnum = 0.5f * num; +// fp32 y = num; +// long i = *(long*)&y; +// i = 0x5f3759df - (i >> 1); +// y = *(fp32*)&i; +// y = y * (1.5f - (halfnum * y * y)); +// y = y * (1.5f - (halfnum * y * y)); +// return y; +} + +/** + * @brief sin函数 + * @author RM + * @param[in] 角度 单位 rad + * @retval 返回对应角度的sin值 + */ + +fp32 AHRS_sinf(fp32 angle) +{ + return sinf(angle); +} +/** + * @brief cos函数 + * @author RM + * @param[in] 角度 单位 rad + * @retval 返回对应角度的cos值 + */ + +fp32 AHRS_cosf(fp32 angle) +{ + return cosf(angle); +} + +/** + * @brief tan函数 + * @author RM + * @param[in] 角度 单位 rad + * @retval 返回对应角度的tan值 + */ + +fp32 AHRS_tanf(fp32 angle) +{ + return tanf(angle); +} +/** + * @brief 用于32位浮点数的反三角函数 asin函数 + * @author RM + * @param[in] 输入sin值，最大1.0f，最小-1.0f + * @retval 返回角度 单位弧度 + */ + +fp32 AHRS_asinf(fp32 sin) +{ + + return asinf(sin); +} + +/** + * @brief 反三角函数acos函数 + * @author RM + * @param[in] 输入cos值，最大1.0f，最小-1.0f + * @retval 返回对应的角度 单位弧度 + */ + +fp32 AHRS_acosf(fp32 cos) +{ + + return acosf(cos); +} + +/** + * @brief 反三角函数atan函数 + * @author RM + * @param[in] 输入tan值中的y值 最大正无穷，最小负无穷 + * @param[in] 输入tan值中的x值 最大正无穷，最小负无穷 + * @retval 返回对应的角度 单位弧度 + */ + +fp32 AHRS_atan2f(fp32 y, fp32 x) +{ + return atan2f(y, x); +} diff --git a/Drivers/usr/AHRS_middleware.h b/Drivers/usr/AHRS_middleware.h new file mode 100644 index 0000000000000000000000000000000000000000..2351731bbb2c4443a2e28e4c7c294fda7eaafcd0 --- /dev/null +++ b/Drivers/usr/AHRS_middleware.h @@ -0,0 +1,66 @@ + +/** + ****************************(C) COPYRIGHT 2019 DJI**************************** + * @file AHRS_MiddleWare.c/h + * @brief 姿态解算中间层，为姿态解算提供相关函数 + * @note + * @history + * Version Date Author Modification + * V1.0.0 Dec-26-2018 RM 1. 完成 + * + @verbatim + ============================================================================== + + ============================================================================== + @endverbatim + ****************************(C) COPYRIGHT 2019 DJI**************************** + */ + +#ifndef AHRS_MIDDLEWARE_H +#define AHRS_MIDDLEWARE_H + +//重新对应的数据类型 +typedef signed char int8_t; +typedef signed short int int16_t; +typedef signed int int32_t; +typedef signed long long int64_t; + +/* exact-width unsigned integer types */ +typedef unsigned char uint8_t; +typedef unsigned short int uint16_t; +typedef unsigned int uint32_t; +typedef unsigned long long uint64_t; +typedef unsigned char bool_t; +typedef float fp32; +typedef double fp64; + +//定义 NULL +#ifndef NULL +#define NULL 0 +#endif + +//定义PI 值 +#ifndef PI +#define PI 3.14159265358979f +#endif + +//定义 角度(度)转换到 弧度的比例 +#ifndef ANGLE_TO_RAD +#define ANGLE_TO_RAD 0.01745329251994329576923690768489f +#endif + +//定义 弧度 转换到 角度的比例 +#ifndef RAD_TO_ANGLE +#define RAD_TO_ANGLE 57.295779513082320876798154814105f +#endif + +extern void AHRS_get_height(fp32 *high); +extern void AHRS_get_latitude(fp32 *latitude); +extern fp32 AHRS_invSqrt(fp32 num); +extern fp32 AHRS_sinf(fp32 angle); +extern fp32 AHRS_cosf(fp32 angle); +extern fp32 AHRS_tanf(fp32 angle); +extern fp32 AHRS_asinf(fp32 sin); +extern fp32 AHRS_acosf(fp32 cos); +extern fp32 AHRS_atan2f(fp32 y, fp32 x); +#endif diff --git a/Drivers/usr/apl_INS.c b/Drivers/usr/apl_INS.c new file mode 100644 index 0000000000000000000000000000000000000000..5fc8f7e1990353634e5c67c625dda11754f67f3f --- /dev/null +++ b/Drivers/usr/apl_INS.c @@ -0,0 +1,103 @@ +#include "BMI088driver.h" +#include "ist8310driver.h" +#include "BMI088Middleware.h" +#include "math.h" +#include "AHRS.h" + +#define BMI088_BOARD_INSTALL_SPIN_MATRIX \ + {0.0f, 1.0f, 0.0f}, \ + {-1.0f, 0.0f, 0.0f}, \ + {0.0f, 0.0f, 1.0f} \ + + +#define IST8310_BOARD_INSTALL_SPIN_MATRIX \ + {1.0f, 0.0f, 0.0f}, \ + {0.0f, 1.0f, 0.0f}, \ + {0.0f, 0.0f, 1.0f} \ + +/*-Definition-*/ +fp32 INS_mag[3], mag[3]; + +bmi088_real_data_t bmi088_real_data; + +fp32 gyro_scale_factor[3][3] = {BMI088_BOARD_INSTALL_SPIN_MATRIX}; +fp32 gyro_offset[3]; +fp32 gyro_cali_offset[3]; + +fp32 accel_scale_factor[3][3] = {BMI088_BOARD_INSTALL_SPIN_MATRIX}; +fp32 accel_offset[3]; +fp32 accel_cali_offset[3]; + +ist8310_real_data_t ist8310_real_data; +fp32 mag_scale_factor[3][3] = {IST8310_BOARD_INSTALL_SPIN_MATRIX}; +fp32 mag_offset[3]; +fp32 mag_cali_offset[3]; + +static const float timing_time = 0.001f; //tast run time , unit s.任务运行的时间 单位 s + +static fp32 accel_fliter_1[3] = {0.0f, 0.0f, 0.0f}; +static fp32 accel_fliter_2[3] = {0.0f, 0.0f, 0.0f}; +static fp32 accel_fliter_3[3] = {0.0f, 0.0f, 0.0f}; +static const fp32 fliter_num[3] = {1.929454039488895f, -0.93178349823448126f, 0.002329458745586203f}; + + + +/*-------res_data-------*/ +fp32 INS_gyro[3] = {0}, INS_accel[3] = {0}, temp, onto = 0; +fp32 INS_quat[4] = {1.0f, 0.0f, 0.0f, 0.0f}; +fp32 INS_angle[3] = {0.0f, 0.0f, 0.0f}; + + + +static void imu_cali_slove(fp32 gyro[3], fp32 accel[3], fp32 mag[3], bmi088_real_data_t *bmi088, ist8310_real_data_t *ist8310) { + for (uint8_t i = 0; i < 3; i++) { + gyro[i] = bmi088->gyro[0] * gyro_scale_factor[i][0] + bmi088->gyro[1] * gyro_scale_factor[i][1] + bmi088->gyro[2] * gyro_scale_factor[i][2] + gyro_offset[i]; + accel[i] = bmi088->accel[0] * accel_scale_factor[i][0] + bmi088->accel[1] * accel_scale_factor[i][1] + bmi088->accel[2] * accel_scale_factor[i][2] + accel_offset[i]; + mag[i] = ist8310->mag[0] * mag_scale_factor[i][0] + ist8310->mag[1] * mag_scale_factor[i][1] + ist8310->mag[2] * mag_scale_factor[i][2] + mag_offset[i]; + } +} + +void INS_init(void) { + ///for(int i = 0; BMI088_init() && i <= 10; ++i) BMI088_delay_us(100); + BMI088_init(); + for(int i = 0; ist8310_init() && i <= 10; ++i) BMI088_delay_us(100); + + INS_quat[0] = 1, INS_quat[1] = 0, INS_quat[2] = 0, INS_quat[3] = 0; + BMI088_read(bmi088_real_data.gyro, bmi088_real_data.accel, &bmi088_real_data.temp); + + imu_cali_slove(INS_gyro, INS_accel, INS_mag, &bmi088_real_data, &ist8310_real_data); + + AHRS_init(INS_quat, INS_accel, INS_mag); + + accel_fliter_1[0] = accel_fliter_2[0] = accel_fliter_3[0] = INS_accel[0]; + accel_fliter_1[1] = accel_fliter_2[1] = accel_fliter_3[1] = INS_accel[1]; + accel_fliter_1[2] = accel_fliter_2[2] = accel_fliter_3[2] = INS_accel[2]; +} + +void INS_get_data(void) { + + BMI088_read(bmi088_real_data.gyro, bmi088_real_data.accel, &bmi088_real_data.temp); + + imu_cali_slove(INS_gyro, INS_accel, INS_mag, &bmi088_real_data, &ist8310_real_data); + + accel_fliter_1[0] = accel_fliter_2[0]; + accel_fliter_2[0] = accel_fliter_3[0]; + + accel_fliter_3[0] = accel_fliter_2[0] * fliter_num[0] + accel_fliter_1[0] * fliter_num[1] + INS_accel[0] * fliter_num[2]; + + accel_fliter_1[1] = accel_fliter_2[1]; + accel_fliter_2[1] = accel_fliter_3[1]; + + accel_fliter_3[1] = accel_fliter_2[1] * fliter_num[0] + accel_fliter_1[1] * fliter_num[1] + INS_accel[1] * fliter_num[2]; + + accel_fliter_1[2] = accel_fliter_2[2]; + accel_fliter_2[2] = accel_fliter_3[2]; + + accel_fliter_3[2] = accel_fliter_2[2] * fliter_num[0] + accel_fliter_1[2] * fliter_num[1] + INS_accel[2] * fliter_num[2]; + + + AHRS_update(INS_quat, timing_time, INS_gyro, accel_fliter_3, INS_mag); + get_angle(INS_quat, INS_angle + 0, INS_angle + 1, INS_angle + 2); + + return ; +} \ No newline at end of file diff --git a/Drivers/usr/apl_INS.h b/Drivers/usr/apl_INS.h new file mode 100644 index 0000000000000000000000000000000000000000..dfa8a2dbbdc37336299d5496c506d2ffc6b29e02 --- /dev/null +++ b/Drivers/usr/apl_INS.h @@ -0,0 +1,12 @@ +#ifndef APL_INS_H +#define APL_INS_H + +extern float INS_quat[4]; +extern float INS_angle[3]; + +extern void INS_init(void); +extern void INS_get_data(void); + + +#endif + diff --git a/Drivers/usr/apl_pid.c b/Drivers/usr/apl_pid.c index 2619c2ab3295d977fd1f462a2110ec9b24c3f597..0121d78b601578da5eeaf8d05982cbb5cb1115c0 100644 --- a/Drivers/usr/apl_pid.c +++ b/Drivers/usr/apl_pid.c @@ -4,33 +4,32 @@ #include "tim.h" #include - -PID pid_speed, pid_angle; +PID_K_t k_speed_chassis = {15, 1.15, 8}, k_speed_gimbal = {150, 2.15, 8}, k_angle_gimbal = {0.05, 0, 0.3}; short output[4] = {0}; -void PID_init_speed(PID *pid, float MAX_OUTPUT) { +void PID_init_speed(PID *pid, float MAX_OUTPUT, PID_K_t *K) { pid->err = 0; pid->integral = 0; pid->maxIntegral = 500000; pid->maxOutput = MAX_OUTPUT; pid->lastErr = 0; pid->output = 0; - pid->kp = KP_speed; - pid->ki = KI_speed; - pid->kd = KD_speed; + pid->kp = K->KP; + pid->ki = K->KI; + pid->kd = K->KD; } -void PID_init_angle(PID *pid, float MAX_OUTPUT) { +void PID_init_angle(PID *pid, float MAX_OUTPUT, PID_K_t *K) { pid->err = 0; pid->integral = 0; - pid->maxIntegral = 1000; + pid->maxIntegral = 100; pid->maxOutput = MAX_OUTPUT; pid->lastErr = 0; pid->output = 0; - pid->kp = KP_angle; - pid->ki = KI_angle; - pid->kd = KD_angle; + pid->kp = K->KP; + pid->ki = K->KI; + pid->kd = K->KD; } float PID_speed_output(PID* pid, float target, float feedback) { @@ -42,7 +41,7 @@ float PID_speed_output(PID* pid, float target, float feedback) { if(pid->ki * pid->integral < -pid->maxIntegral) pid->integral = -pid->maxIntegral / pid->ki; else if(pid->ki * pid->integral > pid->maxIntegral) pid->integral = pid->maxIntegral / pid->ki; - //if(target == 0) pid->integral = 0; + if(fabs(target) <= 2) pid->integral /= 1.2; pid->output = (pid->kp * pid->err) + (pid->ki * pid->integral) + (pid->kd * (pid->err - pid->lastErr)); pid->lastErr = pid->err; @@ -72,18 +71,3 @@ float PID_angle_output(PID * pid, float target, float feedback) { return pid->output; } - -float target_speed, target_angle; - -void PID_set_speed(int _id) { - target_angle = rc_ctl.rc.ch[_id]; - target_angle = (target_angle - 1024.0 + 660) * 8191 / 1320; - - target_speed = PID_angle_output(&pid_angle, target_angle, motor_data[_id].ecd); - output[_id] = (short)(PID_speed_output(&pid_speed, target_speed, motor_data[_id].speed_rpm)); - - CAN_cmd_chassis(output); - return; -} - - diff --git a/Drivers/usr/apl_pid.h b/Drivers/usr/apl_pid.h index 45ee620ed7236bd959548355ea817e963f0a78c0..10f8c880e1b6e467f04d0323e615fb646fd887cc 100644 --- a/Drivers/usr/apl_pid.h +++ b/Drivers/usr/apl_pid.h @@ -3,11 +3,17 @@ #include "stm32f4xx.h" +typedef struct { + float KP, KI, KD; +} PID_K_t; + +extern PID_K_t k_speed_chassis, k_speed_gimbal, k_angle_gimbal; + #define KP_speed 15 #define KI_speed 1.15 #define KD_speed 8 -#define KP_angle 2 +#define KP_angle 0.1 #define KI_angle 0 #define KD_angle 0 @@ -18,12 +24,10 @@ typedef struct _PID { float output, maxOutput; } PID; -extern void PID_init_speed(PID *pid, float MAX_OUTPUT); -extern void PID_init_angle(PID *pid, float MAX_OUTPUT); +extern void PID_init_speed(PID *pid, float MAX_OUTPUT, PID_K_t *K); +extern void PID_init_angle(PID *pid, float MAX_OUTPUT, PID_K_t *K); float PID_speed_output(PID* pid, float target, float feedback); float PID_angle_output(PID *pid, float target, float feedback); -extern void PID_set_speed(int _id); - #endif diff --git a/Drivers/usr/drv_chassis.c b/Drivers/usr/drv_chassis.c index 3185b5f2b73e02cb650a47b5eff7b503814e4c97..13c7202cbb15d392f8d7d0291ff48f43fafb8328 100644 --- a/Drivers/usr/drv_chassis.c +++ b/Drivers/usr/drv_chassis.c @@ -10,7 +10,7 @@ PID wheel[4]; void PID_chassis_init() { for(char i = 0; i < 4; ++i) - PID_init_speed(&wheel[i], CAN_3508_MAXI); + PID_init_speed(&wheel[i], CAN_3508_MAXI, &k_speed_chassis); } short move_mode; diff --git a/Drivers/usr/drv_chassis.h b/Drivers/usr/drv_chassis.h index 5882076d962e2b7994eba41b2d63cada2e6f47ee..0b0d0fa5be74e06fbb564b802586f6cc5ce8a785 100644 --- a/Drivers/usr/drv_chassis.h +++ b/Drivers/usr/drv_chassis.h @@ -6,7 +6,7 @@ #define follow 1 #define spin 2 #define CHASSIS_WZ_SET_SCALE 0.0f -#define MOTOR_DISTANCE_TO_CENTER 2.0f +#define MOTOR_DISTANCE_TO_CENTER 1.8f extern PID wheel[4]; diff --git a/Drivers/usr/drv_gimbal.c b/Drivers/usr/drv_gimbal.c index 3d16bb1438529d44b1937b6dde803d9650460278..e19390d8b6cefbb4e5893a5297969c75c6ee2024 100644 --- a/Drivers/usr/drv_gimbal.c +++ b/Drivers/usr/drv_gimbal.c @@ -8,10 +8,10 @@ PID gimbal_yaw, gimbal_pitch; PID gimbal_yaw_speed, gimbal_pitch_speed; void PID_gimbal_init() { - PID_init_angle(&gimbal_yaw, CAN_6020_MAXrpm); - PID_init_angle(&gimbal_pitch, CAN_6020_MAXrpm); - PID_init_speed(&gimbal_yaw_speed, CAN_6020_MAXV); - PID_init_speed(&gimbal_pitch_speed, CAN_6020_MAXV); + PID_init_angle(&gimbal_yaw, CAN_6020_MAXrpm, &k_angle_gimbal); + PID_init_angle(&gimbal_pitch, CAN_6020_MAXrpm, &k_angle_gimbal); + PID_init_speed(&gimbal_yaw_speed, CAN_6020_MAXV, &k_speed_gimbal); + PID_init_speed(&gimbal_pitch_speed, CAN_6020_MAXV, &k_speed_gimbal); } float angle_yaw, angle_pitch; @@ -27,7 +27,9 @@ void Gimbal_init(void) { } void Gimbal_RC(void) { - angle_yaw = (rc_ctl.rc.ch[3] - 1024 + 660) * 8191 / 1320; + angle_yaw += (rc_ctl.rc.ch[3] - 1024.0) * 50 / 1320; + if(angle_yaw > 8191) angle_yaw -= 8191; + if(angle_yaw < 0) angle_yaw += 8191; } diff --git "a/MDK-ARM/Chassis_typeC.uvguix.\345\247\234\346\254\242\346\241\220" "b/MDK-ARM/Chassis_typeC.uvguix.\345\247\234\346\254\242\346\241\220" index 924f65c54ca19379c52fcfbcdb29954ac97b0fc1..aadeb3c5653b991f3ca1af01c88eca8dc987948e 100644 --- "a/MDK-ARM/Chassis_typeC.uvguix.\345\247\234\346\254\242\346\241\220" +++ "b/MDK-ARM/Chassis_typeC.uvguix.\345\247\234\346\254\242\346\241\220" @@ -110,8 +110,8 @@ 0 - 755 - 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1423 @@ -3603,66 +3603,75 @@ 0 100 - 1 + 6 ../Core/Src/main.c - 42 - 85 - 100 + 0 + 94 + 103 1 0 - ..\Drivers\usr\drv_gimbal.c - 0 - 5 - 36 + ..\Drivers\usr\AHRS_middleware.h + 18 + 1 + 35 1 0 - startup_stm32f407xx.s + ..\Drivers\usr\struct_typedef.h 0 - 167 - 175 - 0 + 1 + 17 + 1 0 - ..\Drivers\usr\apl_pid.c - 22 - 35 - 58 + ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c + 0 + 661 + 670 1 0 + + startup_stm32f407xx.s + 0 + 167 + 175 + 0 + + 0 + ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c 0 - 1222 - 1235 + 1219 + 1228 1 0 - ..\Drivers\usr\bsp_can.h - 7 - 5 - 41 + ..\Drivers\usr\apl_INS.c + 36 + 1 + 21 1 0 - ..\Drivers\usr\apl_pid.h - 18 - 1 - 10 + ..\Drivers\usr\apl_pid.c + 24 + 37 + 62 1 0 diff --git a/MDK-ARM/Chassis_typeC.uvoptx b/MDK-ARM/Chassis_typeC.uvoptx index 583c9e24aa3bfe3cb058ed0af5366b4cb79fc97e..8db0c70a6dd20e6ff0570482c19dc95f08b399fd 100644 --- a/MDK-ARM/Chassis_typeC.uvoptx +++ b/MDK-ARM/Chassis_typeC.uvoptx @@ -153,42 +153,37 @@ 0 1 - INS_angle + rc_ctl,0x0A 1 1 - a + motor_speed,0x0A 2 1 - mag,0x0A + motor_data,0x0A 3 1 - x + angle_yaw 4 1 - rc_ctl,0x0A + gimbal_yaw 5 1 - motor_speed,0x0A + ss 6 1 - motor_data,0x0A - - - 7 - 1 - angle_yaw + INS_angle @@ -661,7 +656,7 @@ bsp_imu - 0 + 1 0 0 0 @@ -833,6 +828,54 @@ 0 0 + + 5 + 47 + 5 + 0 + 0 + 0 + ..\Drivers\usr\AHRS.h + AHRS.h + 0 + 0 + + + 5 + 48 + 4 + 0 + 0 + 0 + ..\Drivers\usr\AHRS.lib + AHRS.lib + 0 + 0 + + + 5 + 49 + 1 + 0 + 0 + 0 + ..\Drivers\usr\AHRS_middleware.c + AHRS_middleware.c + 0 + 0 + + + 5 + 50 + 5 + 0 + 0 + 0 + ..\Drivers\usr\AHRS_middleware.h + AHRS_middleware.h + 0 + 0 + @@ -843,7 +886,7 @@ 0 6 - 47 + 51 1 0 0 @@ -855,7 +898,7 @@ 6 - 48 + 52 5 0 0 @@ -867,7 +910,7 @@ 6 - 49 + 53 1 0 0 @@ -879,7 +922,7 @@ 6 - 50 + 54 5 0 0 @@ -899,7 +942,7 @@ 0 7 - 51 + 55 1 0 0 @@ -911,7 +954,7 @@ 7 - 52 + 56 5 0 0 @@ -931,7 +974,7 @@ 0 8 - 53 + 57 1 0 0 @@ -943,7 +986,7 @@ 8 - 54 + 58 5 0 0 @@ -963,7 +1006,7 @@ 0 9 - 55 + 59 1 0 0 @@ -975,7 +1018,7 @@ 9 - 56 + 60 5 0 0 @@ -987,6 +1030,38 @@ + + apl_INS + 1 + 0 + 0 + 0 + + 10 + 61 + 1 + 0 + 0 + 0 + ..\Drivers\usr\apl_INS.c + apl_INS.c + 0 + 0 + + + 10 + 62 + 5 + 0 + 0 + 0 + ..\Drivers\usr\apl_INS.h + apl_INS.h + 0 + 0 + + + ::CMSIS 0 diff --git a/MDK-ARM/Chassis_typeC.uvprojx b/MDK-ARM/Chassis_typeC.uvprojx index 6a1b3a44c45a88fdfbd9f9e9c4caf1302c54c80f..6f41b4c2dbd1a2b548fc0ef54cb8b830cd90bc89 100644 --- a/MDK-ARM/Chassis_typeC.uvprojx +++ b/MDK-ARM/Chassis_typeC.uvprojx @@ -341,7 +341,7 @@ USE_HAL_DRIVER,STM32F407xx - ../Core/Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ..\Drivers\usr + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;..\Drivers\usr @@ -635,6 +635,26 @@ 5 ..\Drivers\usr\struct_typedef.h + + AHRS.h + 5 + ..\Drivers\usr\AHRS.h + + + AHRS.lib + 4 + ..\Drivers\usr\AHRS.lib + + + AHRS_middleware.c + 1 + ..\Drivers\usr\AHRS_middleware.c + + + AHRS_middleware.h + 5 + ..\Drivers\usr\AHRS_middleware.h + @@ -707,6 +727,21 @@ + + apl_INS + + + apl_INS.c + 1 + ..\Drivers\usr\apl_INS.c + + + apl_INS.h + 5 + ..\Drivers\usr\apl_INS.h + + + ::CMSIS diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC.axf b/MDK-ARM/Chassis_typeC/Chassis_typeC.axf index 6f50675cc502efeca10727521ae7338f8eeccf9d..ac1da2a876cc2a39e7409a3b47c446644e0fd233 100644 Binary files a/MDK-ARM/Chassis_typeC/Chassis_typeC.axf and b/MDK-ARM/Chassis_typeC/Chassis_typeC.axf differ diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC.build_log.htm b/MDK-ARM/Chassis_typeC/Chassis_typeC.build_log.htm index f5c319d6d2f27ca8d94de6c663488b624007fd8c..3425a342184139a3ef6be58fa4348815e05ce72e 100644 --- a/MDK-ARM/Chassis_typeC/Chassis_typeC.build_log.htm +++ b/MDK-ARM/Chassis_typeC/Chassis_typeC.build_log.htm @@ -22,58 +22,85 @@ Dialog DLL: TCM.DLL V1.56.4.0

Project:

C:\Cube Data\Chassis_typeC\MDK-ARM\Chassis_typeC.uvprojx -Project File Date: 01/16/2024 +Project File Date: 01/17/2024

Output:

*** Using Compiler 'V6.19', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin' Rebuild target 'Chassis_typeC' -compiling stm32f4xx_hal_flash.c... -compiling stm32f4xx_hal_rcc_ex.c... +compiling can.c... +compiling main.c... +compiling stm32f4xx_hal_rcc.c... +compiling stm32f4xx_hal_msp.c... assembling startup_stm32f407xx.s... +compiling i2c.c... +compiling dma.c... +compiling stm32f4xx_it.c... compiling spi.c... -compiling stm32f4xx_hal_msp.c... compiling usart.c... -compiling dma.c... -compiling tim.c... compiling gpio.c... -compiling i2c.c... -compiling stm32f4xx_it.c... -compiling can.c... -compiling main.c... -compiling stm32f4xx_hal_rcc.c... +compiling tim.c... +compiling stm32f4xx_hal_flash.c... +compiling stm32f4xx_hal_rcc_ex.c... +compiling stm32f4xx_hal_flash_ramfunc.c... compiling stm32f4xx_hal_can.c... compiling stm32f4xx_hal_flash_ex.c... -compiling stm32f4xx_hal_flash_ramfunc.c... compiling stm32f4xx_hal_gpio.c... +compiling stm32f4xx_hal_pwr_ex.c... compiling stm32f4xx_hal_pwr.c... compiling stm32f4xx_hal_dma_ex.c... -compiling stm32f4xx_hal_pwr_ex.c... -compiling stm32f4xx_hal_dma.c... -compiling stm32f4xx_hal_cortex.c... compiling stm32f4xx_hal.c... compiling stm32f4xx_hal_exti.c... +compiling stm32f4xx_hal_cortex.c... +compiling stm32f4xx_hal_dma.c... compiling stm32f4xx_hal_i2c_ex.c... compiling system_stm32f4xx.c... compiling BMI088driver.c... compiling ist8310driver.c... -compiling BMI088Middleware.c... compiling stm32f4xx_hal_tim_ex.c... -compiling bsp_delay.c... compiling MahonyAHRS.c... +compiling bsp_delay.c... +compiling BMI088Middleware.c... compiling ist8310driver_middleware.c... +compiling AHRS_middleware.c... compiling stm32f4xx_hal_uart.c... compiling bsp_can.c... -compiling drv_chassis.c... compiling bsp_dbus.c... compiling stm32f4xx_hal_spi.c... +compiling drv_chassis.c... compiling apl_pid.c... compiling drv_gimbal.c... +../Drivers/usr/apl_INS.c(5): warning: In file included from... +../Drivers/usr/AHRS.h(4): warning: In file included from... +../Drivers/usr/AHRS_MiddleWare.h(33): warning: redefinition of typedef 'bool_t' is a C11 feature [-Wtypedef-redefinition] +typedef unsigned char bool_t; + ^ +../Drivers/usr/struct_typedef.h(15): note: previous definition is here +typedef unsigned char bool_t; + ^ +../Drivers/usr/apl_INS.c(5): warning: In file included from... +../Drivers/usr/AHRS.h(4): warning: In file included from... +../Drivers/usr/AHRS_MiddleWare.h(34): warning: redefinition of typedef 'fp32' is a C11 feature [-Wtypedef-redefinition] +typedef float fp32; + ^ +../Drivers/usr/struct_typedef.h(16): note: previous definition is here +typedef float fp32; + ^ +../Drivers/usr/apl_INS.c(5): warning: In file included from... +../Drivers/usr/AHRS.h(4): warning: In file included from... +../Drivers/usr/AHRS_MiddleWare.h(35): warning: redefinition of typedef 'fp64' is a C11 feature [-Wtypedef-redefinition] +typedef double fp64; + ^ +../Drivers/usr/struct_typedef.h(17): note: previous definition is here +typedef double fp64; + ^ +3 warnings generated. +compiling apl_INS.c... compiling stm32f4xx_hal_tim.c... compiling stm32f4xx_hal_i2c.c... linking... -Program Size: Code=24742 RO-data=494 RW-data=48 ZI-data=2272 +Program Size: Code=27648 RO-data=536 RW-data=200 ZI-data=2360 FromELF: creating hex file... -"Chassis_typeC\Chassis_typeC.axf" - 0 Error(s), 0 Warning(s). +"Chassis_typeC\Chassis_typeC.axf" - 0 Error(s), 3 Warning(s).

Software Packages used:

@@ -96,7 +123,7 @@ Package Vendor: Keil

Collection of Component Files used:

* Component: ARM::CMSIS:CORE:5.6.0 -Build Time Elapsed: 00:00:03 +Build Time Elapsed: 00:00:02 diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC.hex b/MDK-ARM/Chassis_typeC/Chassis_typeC.hex index b8bf9b25a60057de7403b32db27d4c5da2c103e9..45690f5b44c838cd34ae97411945dc8273ea1869 100644 --- a/MDK-ARM/Chassis_typeC/Chassis_typeC.hex +++ b/MDK-ARM/Chassis_typeC/Chassis_typeC.hex @@ -1,1584 +1,1777 @@ :020000040800F2 -:10000000100900209D0100085D4D0008C13A00085C -:10001000594D0008D90B0008C95400080000000021 -:10002000000000000000000000000000095100086E -:10003000090F000800000000E54F00080D510008FE +:10000000000A00209D01000849490008ED3A000857 +:1000100045490008550C0008F55000080000000094 +:10002000000000000000000000000000354D000846 +:10003000990F000800000000114C0008394D00081D :10004000B7010008B7010008B7010008B7010008B0 :10005000B7010008B7010008B7010008B7010008A0 -:10006000B70100080D0F0008150F0008B7010008C0 -:10007000E50E0008B7010008B7010008B701000845 +:10006000B70100089D0F0008A50F0008B7010008A0 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+:106EC000000000009A99993E000070413333933FCF +:106ED00000000041000016439A990940000000415B :040000050800018965 :00000001FF diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC.htm b/MDK-ARM/Chassis_typeC/Chassis_typeC.htm index b7695a531f7864c35b03b555943ff2c1f5b2bd92..77f09ed43e13b0faafb114c960215d2970eb4fec 100644 --- a/MDK-ARM/Chassis_typeC/Chassis_typeC.htm +++ b/MDK-ARM/Chassis_typeC/Chassis_typeC.htm @@ -3,11 +3,11 @@ Static Call Graph - [Chassis_typeC\Chassis_typeC.axf]

Static Call Graph for image Chassis_typeC\Chassis_typeC.axf

-

#<CALLGRAPH># ARM Linker, 6190004: Last Updated: Tue Jan 16 20:29:59 2024 +

#<CALLGRAPH># ARM Linker, 6190004: Last Updated: Wed Jan 17 16:47:13 2024

-

Maximum Stack Usage = 216 bytes + Unknown(Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 272 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

-main ⇒ ist8310_init ⇒ ist8310_IIC_read_single_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout +TIM3_IRQHandler ⇒ HAL_TIM_IRQHandler ⇒ HAL_TIM_PeriodElapsedCallback ⇒ INS_get_data ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki

Mutually Recursive functions @@ -126,25 +126,25 @@ Global Symbols

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

  • startup_stm32f407xx.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_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) +

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

__rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F)) +

__rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
[Address Reference Count : 1]

  • startup_stm32f407xx.o(RESET) @@ -375,206 +375,298 @@ Global Symbols
    [Calls]
    • >>   __aeabi_llsr
    • >>   __aeabi_llsl
    -
    [Called By]
    • >>   HAL_RCC_GetSysClockFreq -
    • >>   UART_SetConfig +
      [Called By]
      • >>   HAL_RCC_GetSysClockFreq +
      • >>   UART_SetConfig
      -

      __aeabi_dadd (Thumb, 322 bytes, Stack size 48 bytes, dadd.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_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) + +

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

      [Calls]

      • >>   __aeabi_memset +
      + +

      __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) + +

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

      [Calls]

      • >>   __aeabi_memset +
      + +

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

      [Stack]

      • Max Depth = 88
      • Call Chain = __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
      -
      [Calls]
      • >>   __aeabi_lasr +
        [Calls]
        • >>   _double_round +
        • >>   _double_epilogue +
        • >>   __aeabi_lasr
        • >>   __aeabi_llsl -
        • >>   _double_round -
        • >>   _double_epilogue
        -
        [Called By]
        • >>   __aeabi_drsub -
        • >>   __aeabi_dsub +
          [Called By]
          • >>   Gimbal_RC +
          • >>   __aeabi_drsub +
          • >>   __aeabi_dsub
          -

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

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

          [Stack]

          • Max Depth = 88
          • Call Chain = __aeabi_dsub ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
          -
          [Calls]
          • >>   __aeabi_dadd +
            [Calls]
            • >>   __aeabi_dadd
            -
            [Called By]
            • >>   PID_angle_output +
              [Called By]
              • >>   PID_angle_output
              -

              __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)) +

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

                [Stack]

                • Max Depth = 88
                • Call Chain = __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
                -
                [Calls]
                • >>   _double_epilogue +
                  [Calls]
                  • >>   _double_epilogue
                  -
                  [Called By]
                  • >>   PID_angle_output +
                    [Called By]
                    • >>   Gimbal_RC +
                    • >>   PID_angle_output
                    -

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

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

                    [Stack]

                    • Max Depth = 40
                    • Call Chain = __aeabi_ddiv ⇒ _double_round
                    -
                    [Calls]
                    • >>   _double_round +
                      [Calls]
                      • >>   _double_round
                      -
                      [Called By]
                      • >>   PID_angle_output +
                        [Called By]
                        • >>   Gimbal_RC +
                        • >>   PID_angle_output +
                        • >>   PID_speed_output
                        -

                        __aeabi_dcmplt (Thumb, 54 bytes, Stack size 12 bytes, dcmplt.o(.text)) +

                        __aeabi_dcmplt (Thumb, 54 bytes, Stack size 12 bytes, dcmplt.o(.text))

                        [Stack]

                        • Max Depth = 12
                        • Call Chain = __aeabi_dcmplt
                        -
                        [Called By]
                        • >>   PID_angle_output +
                          [Called By]
                          • >>   PID_angle_output +
                          + +

                          __aeabi_ui2d (Thumb, 26 bytes, Stack size 16 bytes, dfltui.o(.text)) +

                          [Stack]

                          • Max Depth = 56
                          • Call Chain = __aeabi_ui2d ⇒ _double_epilogue ⇒ _double_round +
                          +
                          [Calls]
                          • >>   _double_epilogue +
                          +
                          [Called By]
                          • >>   Gimbal_RC
                          -

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

                          [Called By]

                          • >>   PID_angle_output +

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

                            [Called By]

                            • >>   Gimbal_RC +
                            • >>   PID_angle_output +
                            • >>   PID_speed_output
                            -

                            __aeabi_d2f (Thumb, 56 bytes, Stack size 8 bytes, d2f.o(.text)) +

                            __aeabi_d2f (Thumb, 56 bytes, Stack size 8 bytes, d2f.o(.text))

                            [Stack]

                            • Max Depth = 8
                            • Call Chain = __aeabi_d2f
                            -
                            [Calls]
                            • >>   _float_round +
                              [Calls]
                              • >>   _float_round
                              -
                              [Called By]
                              • >>   PID_angle_output +
                                [Called By]
                                • >>   Gimbal_RC +
                                • >>   PID_angle_output +
                                • >>   PID_speed_output

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

                                [Called By]

                                • >>   _double_epilogue +

                                  [Called By]
                                  • >>   _double_epilogue
                                  • >>   __aeabi_uldivmod -
                                  • >>   __aeabi_dadd +
                                  • >>   __aeabi_dadd
                                  -

                                  _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)

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

                                  [Called By]

                                  • >>   _double_epilogue +

                                    [Called By]
                                    • >>   _double_epilogue
                                    • >>   __aeabi_uldivmod
                                    -

                                    _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)) -

                                    [Called By]

                                    • >>   __aeabi_dadd +

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

                                      [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) -

                                      __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)) -

                                      [Called By]

                                      • >>   __aeabi_d2f +

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

                                        [Called By]

                                        • >>   __aeabi_d2f
                                        -

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

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

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

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

                                        [Stack]

                                        • Max Depth = 8
                                        • Call Chain = _double_round
                                        -
                                        [Called By]
                                        • >>   _double_epilogue -
                                        • >>   __aeabi_dadd -
                                        • >>   __aeabi_ddiv +
                                          [Called By]
                                          • >>   _double_epilogue +
                                          • >>   __aeabi_dadd +
                                          • >>   __aeabi_ddiv
                                          -

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

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

                                          [Stack]

                                          • Max Depth = 40
                                          • Call Chain = _double_epilogue ⇒ _double_round
                                          -
                                          [Calls]
                                          • >>   __aeabi_llsr +
                                            [Calls]
                                            • >>   _double_round +
                                            • >>   __aeabi_llsr
                                            • >>   __aeabi_llsl -
                                            • >>   _double_round
                                            -
                                            [Called By]
                                            • >>   __aeabi_dadd -
                                            • >>   __aeabi_dmul +
                                              [Called By]
                                              • >>   __aeabi_dadd +
                                              • >>   __aeabi_ui2d +
                                              • >>   __aeabi_dmul

                                              __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) + +

                                                AHRS_asinf (Thumb, 4 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_asinf)) +

                                                [Stack]

                                                • Max Depth = 32
                                                • Call Chain = AHRS_asinf ⇒ __hardfp_asinf ⇒ sqrtf +
                                                +
                                                [Calls]
                                                • >>   __hardfp_asinf +
                                                +
                                                [Called By]
                                                • >>   get_angle +
                                                • >>   AHRS_init +
                                                + +

                                                AHRS_atan2f (Thumb, 4 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_atan2f)) +

                                                [Stack]

                                                • Max Depth = 32
                                                • Call Chain = AHRS_atan2f ⇒ __hardfp_atan2f +
                                                +
                                                [Calls]
                                                • >>   __hardfp_atan2f +
                                                +
                                                [Called By]
                                                • >>   get_angle +
                                                • >>   AHRS_init +
                                                -

                                                BMI088_ACCEL_NS_H (Thumb, 14 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_ACCEL_NS_H)) -

                                                [Calls]

                                                • >>   HAL_GPIO_WritePin +

                                                  AHRS_cosf (Thumb, 4 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_cosf)) +

                                                  [Stack]

                                                  • Max Depth = 28
                                                  • Call Chain = AHRS_cosf ⇒ __hardfp_cosf ⇒ __mathlib_rredf2
                                                  -
                                                  [Called By]
                                                  • >>   BMI088_read -
                                                  • >>   bmi088_accel_init +
                                                    [Calls]
                                                    • >>   __hardfp_cosf +
                                                    +
                                                    [Called By]
                                                    • >>   angle_to_quat +
                                                    • >>   AHRS_init
                                                    -

                                                    BMI088_ACCEL_NS_L (Thumb, 14 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_ACCEL_NS_L)) -

                                                    [Calls]

                                                    • >>   HAL_GPIO_WritePin +

                                                      AHRS_get_height (Thumb, 10 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_get_height)) +

                                                      [Called By]

                                                      • >>   AHRS_init
                                                      -
                                                      [Called By]
                                                      • >>   BMI088_read -
                                                      • >>   bmi088_accel_init + +

                                                        AHRS_get_latitude (Thumb, 14 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_get_latitude)) +

                                                        [Called By]

                                                        • >>   AHRS_init
                                                        -

                                                        BMI088_GPIO_init (Thumb, 2 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_GPIO_init)) -

                                                        [Called By]

                                                        • >>   BMI088_init +

                                                          AHRS_invSqrt (Thumb, 14 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_invSqrt)) +

                                                          [Called By]

                                                          • >>   quat_normalization +
                                                          • >>   accel_update_kp_ki +
                                                          • >>   accel_comple_filter +
                                                          • >>   AHRS_init
                                                          -

                                                          BMI088_GYRO_NS_H (Thumb, 16 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_GYRO_NS_H)) -

                                                          [Calls]

                                                          • >>   HAL_GPIO_WritePin +

                                                            AHRS_sinf (Thumb, 4 bytes, Stack size 0 bytes, ahrs_middleware.o(.text.AHRS_sinf)) +

                                                            [Stack]

                                                            • Max Depth = 36
                                                            • Call Chain = AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                            -
                                                            [Called By]
                                                            • >>   BMI088_read -
                                                            • >>   bmi088_gyro_init +
                                                              [Calls]
                                                              • >>   __hardfp_sinf +
                                                              +
                                                              [Called By]
                                                              • >>   angle_to_quat +
                                                              • >>   AHRS_init
                                                              -

                                                              BMI088_GYRO_NS_L (Thumb, 16 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_GYRO_NS_L)) -

                                                              [Calls]

                                                              • >>   HAL_GPIO_WritePin +

                                                                BMI088_ACCEL_NS_H (Thumb, 14 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_ACCEL_NS_H)) +

                                                                [Calls]

                                                                • >>   HAL_GPIO_WritePin
                                                                -
                                                                [Called By]
                                                                • >>   BMI088_read -
                                                                • >>   bmi088_gyro_init +
                                                                  [Called By]
                                                                  • >>   BMI088_read +
                                                                  • >>   bmi088_accel_init
                                                                  -

                                                                  BMI088_com_init (Thumb, 2 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_com_init)) -

                                                                  [Called By]

                                                                  • >>   BMI088_init +

                                                                    BMI088_ACCEL_NS_L (Thumb, 14 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_ACCEL_NS_L)) +

                                                                    [Calls]

                                                                    • >>   HAL_GPIO_WritePin +
                                                                    +
                                                                    [Called By]
                                                                    • >>   BMI088_read +
                                                                    • >>   bmi088_accel_init
                                                                    -

                                                                    BMI088_delay_ms (Thumb, 486 bytes, Stack size 16 bytes, bmi088middleware.o(.text.BMI088_delay_ms)) +

                                                                    BMI088_GPIO_init (Thumb, 2 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_GPIO_init)) +

                                                                    [Called By]

                                                                    • >>   BMI088_init +
                                                                    + +

                                                                    BMI088_GYRO_NS_H (Thumb, 16 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_GYRO_NS_H)) +

                                                                    [Calls]

                                                                    • >>   HAL_GPIO_WritePin +
                                                                    +
                                                                    [Called By]
                                                                    • >>   BMI088_read +
                                                                    • >>   bmi088_gyro_init +
                                                                    + +

                                                                    BMI088_GYRO_NS_L (Thumb, 16 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_GYRO_NS_L)) +

                                                                    [Calls]

                                                                    • >>   HAL_GPIO_WritePin +
                                                                    +
                                                                    [Called By]
                                                                    • >>   BMI088_read +
                                                                    • >>   bmi088_gyro_init +
                                                                    + +

                                                                    BMI088_com_init (Thumb, 2 bytes, Stack size 0 bytes, bmi088middleware.o(.text.BMI088_com_init)) +

                                                                    [Called By]

                                                                    • >>   BMI088_init +
                                                                    + +

                                                                    BMI088_delay_ms (Thumb, 486 bytes, Stack size 16 bytes, bmi088middleware.o(.text.BMI088_delay_ms))

                                                                    [Stack]

                                                                    • Max Depth = 16
                                                                    • Call Chain = BMI088_delay_ms
                                                                    -
                                                                    [Called By]
                                                                    • >>   bmi088_gyro_init -
                                                                    • >>   bmi088_accel_init +
                                                                      [Called By]
                                                                      • >>   bmi088_gyro_init +
                                                                      • >>   bmi088_accel_init
                                                                      -

                                                                      BMI088_delay_us (Thumb, 74 bytes, Stack size 8 bytes, bmi088middleware.o(.text.BMI088_delay_us)) +

                                                                      BMI088_delay_us (Thumb, 74 bytes, Stack size 8 bytes, bmi088middleware.o(.text.BMI088_delay_us))

                                                                      [Stack]

                                                                      • Max Depth = 8
                                                                      • Call Chain = BMI088_delay_us
                                                                      -
                                                                      [Called By]
                                                                      • >>   main -
                                                                      • >>   bmi088_gyro_init -
                                                                      • >>   bmi088_accel_init +
                                                                        [Called By]
                                                                        • >>   INS_init +
                                                                        • >>   bmi088_gyro_init +
                                                                        • >>   bmi088_accel_init
                                                                        -

                                                                        BMI088_init (Thumb, 24 bytes, Stack size 8 bytes, bmi088driver.o(.text.BMI088_init)) +

                                                                        BMI088_init (Thumb, 24 bytes, Stack size 8 bytes, bmi088driver.o(.text.BMI088_init))

                                                                        [Stack]

                                                                        • Max Depth = 96
                                                                        • Call Chain = BMI088_init ⇒ bmi088_gyro_init ⇒ BMI088_read_write_byte ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction
                                                                        -
                                                                        [Calls]
                                                                        • >>   bmi088_gyro_init -
                                                                        • >>   bmi088_accel_init -
                                                                        • >>   BMI088_com_init -
                                                                        • >>   BMI088_GPIO_init +
                                                                          [Calls]
                                                                          • >>   bmi088_gyro_init +
                                                                          • >>   bmi088_accel_init +
                                                                          • >>   BMI088_com_init +
                                                                          • >>   BMI088_GPIO_init
                                                                          -
                                                                          [Called By]
                                                                          • >>   main +
                                                                            [Called By]
                                                                            • >>   INS_init
                                                                            -

                                                                            BMI088_read (Thumb, 414 bytes, Stack size 48 bytes, bmi088driver.o(.text.BMI088_read)) +

                                                                            BMI088_read (Thumb, 414 bytes, Stack size 48 bytes, bmi088driver.o(.text.BMI088_read))

                                                                            [Stack]

                                                                            • Max Depth = 120
                                                                            • Call Chain = BMI088_read ⇒ BMI088_read_write_byte ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction
                                                                            -
                                                                            [Calls]
                                                                            • >>   BMI088_GYRO_NS_H -
                                                                            • >>   BMI088_GYRO_NS_L -
                                                                            • >>   BMI088_ACCEL_NS_H -
                                                                            • >>   BMI088_read_write_byte -
                                                                            • >>   BMI088_ACCEL_NS_L +
                                                                              [Calls]
                                                                              • >>   BMI088_GYRO_NS_H +
                                                                              • >>   BMI088_GYRO_NS_L +
                                                                              • >>   BMI088_ACCEL_NS_H +
                                                                              • >>   BMI088_read_write_byte +
                                                                              • >>   BMI088_ACCEL_NS_L
                                                                              -
                                                                              [Called By]
                                                                              • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                [Called By]
                                                                                • >>   INS_init +
                                                                                • >>   INS_get_data
                                                                                -

                                                                                BMI088_read_write_byte (Thumb, 46 bytes, Stack size 16 bytes, bmi088middleware.o(.text.BMI088_read_write_byte)) +

                                                                                BMI088_read_write_byte (Thumb, 46 bytes, Stack size 16 bytes, bmi088middleware.o(.text.BMI088_read_write_byte))

                                                                                [Stack]

                                                                                • Max Depth = 72
                                                                                • Call Chain = BMI088_read_write_byte ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction
                                                                                -
                                                                                [Calls]
                                                                                • >>   HAL_SPI_TransmitReceive +
                                                                                  [Calls]
                                                                                  • >>   HAL_SPI_TransmitReceive
                                                                                  -
                                                                                  [Called By]
                                                                                  • >>   BMI088_read -
                                                                                  • >>   bmi088_gyro_init -
                                                                                  • >>   bmi088_accel_init +
                                                                                    [Called By]
                                                                                    • >>   BMI088_read +
                                                                                    • >>   bmi088_gyro_init +
                                                                                    • >>   bmi088_accel_init

                                                                                    BusFault_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.BusFault_Handler)) @@ -587,69 +679,69 @@ Global Symbols

                                                                                    CAN1_RX0_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler))

                                                                                    [Stack]

                                                                                    • Max Depth = 96
                                                                                    • Call Chain = CAN1_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_RxFifo0MsgPendingCallback ⇒ HAL_CAN_GetRxMessage
                                                                                    -
                                                                                    [Calls]
                                                                                    • >>   HAL_CAN_IRQHandler +
                                                                                      [Calls]
                                                                                      • >>   HAL_CAN_IRQHandler

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

                                                                                      CAN_cmd_chassis (Thumb, 94 bytes, Stack size 24 bytes, bsp_can.o(.text.CAN_cmd_chassis)) +

                                                                                      CAN_cmd_chassis (Thumb, 94 bytes, Stack size 24 bytes, bsp_can.o(.text.CAN_cmd_chassis))

                                                                                      [Stack]

                                                                                      • Max Depth = 32
                                                                                      • Call Chain = CAN_cmd_chassis ⇒ HAL_CAN_AddTxMessage
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   HAL_CAN_AddTxMessage +
                                                                                        [Calls]
                                                                                        • >>   HAL_CAN_AddTxMessage
                                                                                        -
                                                                                        [Called By]
                                                                                        • >>   Chassis_init -
                                                                                        • >>   Chassis_set_speed +
                                                                                          [Called By]
                                                                                          • >>   Chassis_init +
                                                                                          • >>   Chassis_set_speed
                                                                                          -

                                                                                          CAN_cmd_gimbal (Thumb, 94 bytes, Stack size 24 bytes, bsp_can.o(.text.CAN_cmd_gimbal)) +

                                                                                          CAN_cmd_gimbal (Thumb, 94 bytes, Stack size 24 bytes, bsp_can.o(.text.CAN_cmd_gimbal))

                                                                                          [Stack]

                                                                                          • Max Depth = 32
                                                                                          • Call Chain = CAN_cmd_gimbal ⇒ HAL_CAN_AddTxMessage
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   HAL_CAN_AddTxMessage +
                                                                                            [Calls]
                                                                                            • >>   HAL_CAN_AddTxMessage
                                                                                            -
                                                                                            [Called By]
                                                                                            • >>   Gimbal_init -
                                                                                            • >>   Gimbal_set_angle +
                                                                                              [Called By]
                                                                                              • >>   Gimbal_init +
                                                                                              • >>   Gimbal_set_angle
                                                                                              -

                                                                                              Chassis_RC (Thumb, 92 bytes, Stack size 0 bytes, drv_chassis.o(.text.Chassis_RC)) -

                                                                                              [Called By]

                                                                                              • >>   HAL_TIM_PeriodElapsedCallback +

                                                                                                Chassis_RC (Thumb, 92 bytes, Stack size 0 bytes, drv_chassis.o(.text.Chassis_RC)) +

                                                                                                [Called By]

                                                                                                • >>   HAL_TIM_PeriodElapsedCallback
                                                                                                -

                                                                                                Chassis_init (Thumb, 120 bytes, Stack size 16 bytes, drv_chassis.o(.text.Chassis_init)) -

                                                                                                [Stack]

                                                                                                • Max Depth = 48
                                                                                                • Call Chain = Chassis_init ⇒ CAN_cmd_chassis ⇒ HAL_CAN_AddTxMessage +

                                                                                                  Chassis_init (Thumb, 136 bytes, Stack size 24 bytes, drv_chassis.o(.text.Chassis_init)) +

                                                                                                  [Stack]

                                                                                                  • Max Depth = 56
                                                                                                  • Call Chain = Chassis_init ⇒ CAN_cmd_chassis ⇒ HAL_CAN_AddTxMessage
                                                                                                  -
                                                                                                  [Calls]
                                                                                                  • >>   HAL_Delay -
                                                                                                  • >>   PID_init_speed -
                                                                                                  • >>   CAN_cmd_chassis +
                                                                                                    [Calls]
                                                                                                    • >>   HAL_Delay +
                                                                                                    • >>   PID_init_speed +
                                                                                                    • >>   CAN_cmd_chassis

                                                                                                    [Called By]
                                                                                                    • >>   main
                                                                                                    -

                                                                                                    Chassis_set_speed (Thumb, 360 bytes, Stack size 24 bytes, drv_chassis.o(.text.Chassis_set_speed)) -

                                                                                                    [Stack]

                                                                                                    • Max Depth = 56
                                                                                                    • Call Chain = Chassis_set_speed ⇒ CAN_cmd_chassis ⇒ HAL_CAN_AddTxMessage +

                                                                                                      Chassis_set_speed (Thumb, 364 bytes, Stack size 24 bytes, drv_chassis.o(.text.Chassis_set_speed)) +

                                                                                                      [Stack]

                                                                                                      • Max Depth = 88
                                                                                                      • Call Chain = Chassis_set_speed ⇒ PID_speed_output ⇒ __aeabi_ddiv ⇒ _double_round
                                                                                                      -
                                                                                                      [Calls]
                                                                                                      • >>   PID_speed_output -
                                                                                                      • >>   CAN_cmd_chassis +
                                                                                                        [Calls]
                                                                                                        • >>   PID_speed_output +
                                                                                                        • >>   CAN_cmd_chassis
                                                                                                        -
                                                                                                        [Called By]
                                                                                                        • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                          [Called By]
                                                                                                          • >>   HAL_TIM_PeriodElapsedCallback

                                                                                                          DMA1_Stream1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler))

                                                                                                          [Stack]

                                                                                                          • Max Depth = 24
                                                                                                          • Call Chain = DMA1_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
                                                                                                          -
                                                                                                          [Calls]
                                                                                                          • >>   HAL_DMA_IRQHandler +
                                                                                                            [Calls]
                                                                                                            • >>   HAL_DMA_IRQHandler

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

                                                                                                            DMA2_Stream2_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler))

                                                                                                            [Stack]

                                                                                                            • Max Depth = 24
                                                                                                            • Call Chain = DMA2_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
                                                                                                            -
                                                                                                            [Calls]
                                                                                                            • >>   HAL_DMA_IRQHandler +
                                                                                                              [Calls]
                                                                                                              • >>   HAL_DMA_IRQHandler

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

                                                                                                              DMA2_Stream3_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler))

                                                                                                              [Stack]

                                                                                                              • Max Depth = 24
                                                                                                              • Call Chain = DMA2_Stream3_IRQHandler ⇒ HAL_DMA_IRQHandler
                                                                                                              -
                                                                                                              [Calls]
                                                                                                              • >>   HAL_DMA_IRQHandler +
                                                                                                                [Calls]
                                                                                                                • >>   HAL_DMA_IRQHandler

                                                                                                                [Address Reference Count : 1]
                                                                                                                • startup_stm32f407xx.o(RESET)
                                                                                                                @@ -657,189 +749,192 @@ Global Symbols
                                                                                                                [Address Reference Count : 1]
                                                                                                                • startup_stm32f407xx.o(RESET)

                                                                                                                EXTI3_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI3_IRQHandler)) -

                                                                                                                [Stack]

                                                                                                                • Max Depth = 152
                                                                                                                • Call Chain = EXTI3_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback ⇒ ist8310_read_mag ⇒ ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                -
                                                                                                                [Calls]
                                                                                                                • >>   HAL_GPIO_EXTI_IRQHandler +

                                                                                                                  [Calls]
                                                                                                                  • >>   HAL_GPIO_EXTI_IRQHandler

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

                                                                                                                  EXTI4_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI4_IRQHandler)) -

                                                                                                                  [Stack]

                                                                                                                  • Max Depth = 152
                                                                                                                  • Call Chain = EXTI4_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback ⇒ ist8310_read_mag ⇒ ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                  -
                                                                                                                  [Calls]
                                                                                                                  • >>   HAL_GPIO_EXTI_IRQHandler +

                                                                                                                    [Calls]
                                                                                                                    • >>   HAL_GPIO_EXTI_IRQHandler

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

                                                                                                                    EXTI9_5_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)) -

                                                                                                                    [Stack]

                                                                                                                    • Max Depth = 152
                                                                                                                    • Call Chain = EXTI9_5_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback ⇒ ist8310_read_mag ⇒ ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                    -
                                                                                                                    [Calls]
                                                                                                                    • >>   HAL_GPIO_EXTI_IRQHandler +

                                                                                                                      [Calls]
                                                                                                                      • >>   HAL_GPIO_EXTI_IRQHandler

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

                                                                                                                      Error_Handler (Thumb, 2 bytes, Stack size 0 bytes, main.o(.text.Error_Handler)) -

                                                                                                                      [Called By]

                                                                                                                      • >>   HAL_UART_MspInit -
                                                                                                                      • >>   HAL_SPI_MspInit -
                                                                                                                      • >>   MX_TIM3_Init -
                                                                                                                      • >>   MX_CAN1_Init -
                                                                                                                      • >>   MX_USART3_UART_Init -
                                                                                                                      • >>   MX_I2C3_Init -
                                                                                                                      • >>   MX_TIM10_Init -
                                                                                                                      • >>   MX_SPI1_Init +

                                                                                                                        Error_Handler (Thumb, 2 bytes, Stack size 0 bytes, main.o(.text.Error_Handler)) +

                                                                                                                        [Called By]

                                                                                                                        • >>   HAL_UART_MspInit +
                                                                                                                        • >>   HAL_SPI_MspInit +
                                                                                                                        • >>   MX_TIM3_Init +
                                                                                                                        • >>   MX_CAN1_Init +
                                                                                                                        • >>   MX_USART3_UART_Init +
                                                                                                                        • >>   MX_I2C3_Init +
                                                                                                                        • >>   MX_TIM10_Init +
                                                                                                                        • >>   MX_SPI1_Init
                                                                                                                        -

                                                                                                                        Gimbal_RC (Thumb, 64 bytes, Stack size 0 bytes, drv_gimbal.o(.text.Gimbal_RC)) -

                                                                                                                        [Called By]

                                                                                                                        • >>   HAL_TIM_PeriodElapsedCallback +

                                                                                                                          Gimbal_RC (Thumb, 176 bytes, Stack size 16 bytes, drv_gimbal.o(.text.Gimbal_RC)) +

                                                                                                                          [Stack]

                                                                                                                          • Max Depth = 104
                                                                                                                          • Call Chain = Gimbal_RC ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round +
                                                                                                                          +
                                                                                                                          [Calls]
                                                                                                                          • >>   __aeabi_dadd +
                                                                                                                          • >>   __aeabi_ui2d +
                                                                                                                          • >>   __aeabi_dmul +
                                                                                                                          • >>   __aeabi_d2f +
                                                                                                                          • >>   __aeabi_ddiv +
                                                                                                                          • >>   __aeabi_f2d +
                                                                                                                          +
                                                                                                                          [Called By]
                                                                                                                          • >>   HAL_TIM_PeriodElapsedCallback
                                                                                                                          -

                                                                                                                          Gimbal_init (Thumb, 144 bytes, Stack size 16 bytes, drv_gimbal.o(.text.Gimbal_init)) -

                                                                                                                          [Stack]

                                                                                                                          • Max Depth = 48
                                                                                                                          • Call Chain = Gimbal_init ⇒ CAN_cmd_gimbal ⇒ HAL_CAN_AddTxMessage +

                                                                                                                            Gimbal_init (Thumb, 168 bytes, Stack size 24 bytes, drv_gimbal.o(.text.Gimbal_init)) +

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 56
                                                                                                                            • Call Chain = Gimbal_init ⇒ CAN_cmd_gimbal ⇒ HAL_CAN_AddTxMessage
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   HAL_Delay -
                                                                                                                            • >>   PID_init_angle -
                                                                                                                            • >>   PID_init_speed -
                                                                                                                            • >>   CAN_cmd_gimbal +
                                                                                                                              [Calls]
                                                                                                                              • >>   HAL_Delay +
                                                                                                                              • >>   PID_init_angle +
                                                                                                                              • >>   PID_init_speed +
                                                                                                                              • >>   CAN_cmd_gimbal

                                                                                                                              [Called By]
                                                                                                                              • >>   main
                                                                                                                              -

                                                                                                                              Gimbal_set_angle (Thumb, 84 bytes, Stack size 16 bytes, drv_gimbal.o(.text.Gimbal_set_angle)) +

                                                                                                                              Gimbal_set_angle (Thumb, 84 bytes, Stack size 16 bytes, drv_gimbal.o(.text.Gimbal_set_angle))

                                                                                                                              [Stack]

                                                                                                                              • Max Depth = 160
                                                                                                                              • Call Chain = Gimbal_set_angle ⇒ PID_angle_output ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
                                                                                                                              -
                                                                                                                              [Calls]
                                                                                                                              • >>   PID_angle_output -
                                                                                                                              • >>   PID_speed_output -
                                                                                                                              • >>   CAN_cmd_gimbal +
                                                                                                                                [Calls]
                                                                                                                                • >>   PID_angle_output +
                                                                                                                                • >>   PID_speed_output +
                                                                                                                                • >>   CAN_cmd_gimbal
                                                                                                                                -
                                                                                                                                [Called By]
                                                                                                                                • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                                                  [Called By]
                                                                                                                                  • >>   HAL_TIM_PeriodElapsedCallback
                                                                                                                                  -

                                                                                                                                  HAL_CAN_ActivateNotification (Thumb, 46 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)) -

                                                                                                                                  [Called By]

                                                                                                                                  • >>   can_filter_init +

                                                                                                                                    HAL_CAN_ActivateNotification (Thumb, 46 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)) +

                                                                                                                                    [Called By]

                                                                                                                                    • >>   can_filter_init
                                                                                                                                    -

                                                                                                                                    HAL_CAN_AddTxMessage (Thumb, 192 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)) +

                                                                                                                                    HAL_CAN_AddTxMessage (Thumb, 192 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage))

                                                                                                                                    [Stack]

                                                                                                                                    • Max Depth = 8
                                                                                                                                    • Call Chain = HAL_CAN_AddTxMessage
                                                                                                                                    -
                                                                                                                                    [Called By]
                                                                                                                                    • >>   CAN_cmd_gimbal -
                                                                                                                                    • >>   CAN_cmd_chassis +
                                                                                                                                      [Called By]
                                                                                                                                      • >>   CAN_cmd_gimbal +
                                                                                                                                      • >>   CAN_cmd_chassis
                                                                                                                                      -

                                                                                                                                      HAL_CAN_ConfigFilter (Thumb, 222 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)) +

                                                                                                                                      HAL_CAN_ConfigFilter (Thumb, 222 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter))

                                                                                                                                      [Stack]

                                                                                                                                      • Max Depth = 16
                                                                                                                                      • Call Chain = HAL_CAN_ConfigFilter
                                                                                                                                      -
                                                                                                                                      [Called By]
                                                                                                                                      • >>   can_filter_init +
                                                                                                                                        [Called By]
                                                                                                                                        • >>   can_filter_init
                                                                                                                                        -

                                                                                                                                        HAL_CAN_ErrorCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ErrorCallback)) -

                                                                                                                                        [Called By]

                                                                                                                                        • >>   HAL_CAN_IRQHandler +

                                                                                                                                          HAL_CAN_ErrorCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ErrorCallback)) +

                                                                                                                                          [Called By]

                                                                                                                                          • >>   HAL_CAN_IRQHandler
                                                                                                                                          -

                                                                                                                                          HAL_CAN_GetRxMessage (Thumb, 286 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)) +

                                                                                                                                          HAL_CAN_GetRxMessage (Thumb, 286 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage))

                                                                                                                                          [Stack]

                                                                                                                                          • Max Depth = 8
                                                                                                                                          • Call Chain = HAL_CAN_GetRxMessage
                                                                                                                                          -
                                                                                                                                          [Called By]
                                                                                                                                          • >>   HAL_CAN_RxFifo0MsgPendingCallback +
                                                                                                                                            [Called By]
                                                                                                                                            • >>   HAL_CAN_RxFifo0MsgPendingCallback
                                                                                                                                            -

                                                                                                                                            HAL_CAN_IRQHandler (Thumb, 606 bytes, Stack size 40 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)) +

                                                                                                                                            HAL_CAN_IRQHandler (Thumb, 606 bytes, Stack size 40 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler))

                                                                                                                                            [Stack]

                                                                                                                                            • Max Depth = 96
                                                                                                                                            • Call Chain = HAL_CAN_IRQHandler ⇒ HAL_CAN_RxFifo0MsgPendingCallback ⇒ HAL_CAN_GetRxMessage
                                                                                                                                            -
                                                                                                                                            [Calls]
                                                                                                                                            • >>   HAL_CAN_ErrorCallback -
                                                                                                                                            • >>   HAL_CAN_TxMailbox2CompleteCallback -
                                                                                                                                            • >>   HAL_CAN_TxMailbox2AbortCallback -
                                                                                                                                            • >>   HAL_CAN_TxMailbox1CompleteCallback -
                                                                                                                                            • >>   HAL_CAN_TxMailbox1AbortCallback -
                                                                                                                                            • >>   HAL_CAN_WakeUpFromRxMsgCallback -
                                                                                                                                            • >>   HAL_CAN_SleepCallback -
                                                                                                                                            • >>   HAL_CAN_RxFifo1MsgPendingCallback -
                                                                                                                                            • >>   HAL_CAN_RxFifo1FullCallback -
                                                                                                                                            • >>   HAL_CAN_RxFifo0FullCallback -
                                                                                                                                            • >>   HAL_CAN_TxMailbox0CompleteCallback -
                                                                                                                                            • >>   HAL_CAN_TxMailbox0AbortCallback -
                                                                                                                                            • >>   HAL_CAN_RxFifo0MsgPendingCallback +
                                                                                                                                              [Calls]
                                                                                                                                              • >>   HAL_CAN_ErrorCallback +
                                                                                                                                              • >>   HAL_CAN_TxMailbox2CompleteCallback +
                                                                                                                                              • >>   HAL_CAN_TxMailbox2AbortCallback +
                                                                                                                                              • >>   HAL_CAN_TxMailbox1CompleteCallback +
                                                                                                                                              • >>   HAL_CAN_TxMailbox1AbortCallback +
                                                                                                                                              • >>   HAL_CAN_WakeUpFromRxMsgCallback +
                                                                                                                                              • >>   HAL_CAN_SleepCallback +
                                                                                                                                              • >>   HAL_CAN_RxFifo1MsgPendingCallback +
                                                                                                                                              • >>   HAL_CAN_RxFifo1FullCallback +
                                                                                                                                              • >>   HAL_CAN_RxFifo0FullCallback +
                                                                                                                                              • >>   HAL_CAN_TxMailbox0CompleteCallback +
                                                                                                                                              • >>   HAL_CAN_TxMailbox0AbortCallback +
                                                                                                                                              • >>   HAL_CAN_RxFifo0MsgPendingCallback

                                                                                                                                              [Called By]
                                                                                                                                              • >>   CAN1_RX0_IRQHandler
                                                                                                                                              -

                                                                                                                                              HAL_CAN_Init (Thumb, 244 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init)) +

                                                                                                                                              HAL_CAN_Init (Thumb, 244 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init))

                                                                                                                                              [Stack]

                                                                                                                                              • Max Depth = 92
                                                                                                                                              • Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                              -
                                                                                                                                              [Calls]
                                                                                                                                              • >>   HAL_GetTick -
                                                                                                                                              • >>   HAL_CAN_MspInit +
                                                                                                                                                [Calls]
                                                                                                                                                • >>   HAL_GetTick +
                                                                                                                                                • >>   HAL_CAN_MspInit
                                                                                                                                                -
                                                                                                                                                [Called By]
                                                                                                                                                • >>   MX_CAN1_Init +
                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   MX_CAN1_Init
                                                                                                                                                  -

                                                                                                                                                  HAL_CAN_MspInit (Thumb, 120 bytes, Stack size 32 bytes, can.o(.text.HAL_CAN_MspInit)) +

                                                                                                                                                  HAL_CAN_MspInit (Thumb, 120 bytes, Stack size 32 bytes, can.o(.text.HAL_CAN_MspInit))

                                                                                                                                                  [Stack]

                                                                                                                                                  • Max Depth = 76
                                                                                                                                                  • Call Chain = HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                  -
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                  • >>   HAL_NVIC_SetPriority -
                                                                                                                                                  • >>   HAL_GPIO_Init +
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                    • >>   HAL_NVIC_SetPriority +
                                                                                                                                                    • >>   HAL_GPIO_Init
                                                                                                                                                    -
                                                                                                                                                    [Called By]
                                                                                                                                                    • >>   HAL_CAN_Init +
                                                                                                                                                      [Called By]
                                                                                                                                                      • >>   HAL_CAN_Init
                                                                                                                                                      -

                                                                                                                                                      HAL_CAN_RxFifo0FullCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo0FullCallback)) -

                                                                                                                                                      [Called By]

                                                                                                                                                      • >>   HAL_CAN_IRQHandler +

                                                                                                                                                        HAL_CAN_RxFifo0FullCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo0FullCallback)) +

                                                                                                                                                        [Called By]

                                                                                                                                                        • >>   HAL_CAN_IRQHandler
                                                                                                                                                        -

                                                                                                                                                        HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 94 bytes, Stack size 48 bytes, bsp_can.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)) +

                                                                                                                                                        HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 94 bytes, Stack size 48 bytes, bsp_can.o(.text.HAL_CAN_RxFifo0MsgPendingCallback))

                                                                                                                                                        [Stack]

                                                                                                                                                        • Max Depth = 56
                                                                                                                                                        • Call Chain = HAL_CAN_RxFifo0MsgPendingCallback ⇒ HAL_CAN_GetRxMessage
                                                                                                                                                        -
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   HAL_CAN_GetRxMessage +
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   HAL_CAN_GetRxMessage
                                                                                                                                                          -
                                                                                                                                                          [Called By]
                                                                                                                                                          • >>   HAL_CAN_IRQHandler +
                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   HAL_CAN_IRQHandler
                                                                                                                                                            -

                                                                                                                                                            HAL_CAN_RxFifo1FullCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1FullCallback)) -

                                                                                                                                                            [Called By]

                                                                                                                                                            • >>   HAL_CAN_IRQHandler +

                                                                                                                                                              HAL_CAN_RxFifo1FullCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1FullCallback)) +

                                                                                                                                                              [Called By]

                                                                                                                                                              • >>   HAL_CAN_IRQHandler
                                                                                                                                                              -

                                                                                                                                                              HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)) -

                                                                                                                                                              [Called By]

                                                                                                                                                              • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)) +

                                                                                                                                                                [Called By]

                                                                                                                                                                • >>   HAL_CAN_IRQHandler
                                                                                                                                                                -

                                                                                                                                                                HAL_CAN_SleepCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_SleepCallback)) -

                                                                                                                                                                [Called By]

                                                                                                                                                                • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                  HAL_CAN_SleepCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_SleepCallback)) +

                                                                                                                                                                  [Called By]

                                                                                                                                                                  • >>   HAL_CAN_IRQHandler
                                                                                                                                                                  -

                                                                                                                                                                  HAL_CAN_Start (Thumb, 90 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Start)) +

                                                                                                                                                                  HAL_CAN_Start (Thumb, 90 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Start))

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                  • Call Chain = HAL_CAN_Start
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   HAL_GetTick +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   HAL_GetTick
                                                                                                                                                                    -
                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   can_filter_init +
                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   can_filter_init
                                                                                                                                                                      -

                                                                                                                                                                      HAL_CAN_TxMailbox0AbortCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0AbortCallback)) -

                                                                                                                                                                      [Called By]

                                                                                                                                                                      • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                        HAL_CAN_TxMailbox0AbortCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0AbortCallback)) +

                                                                                                                                                                        [Called By]

                                                                                                                                                                        • >>   HAL_CAN_IRQHandler
                                                                                                                                                                        -

                                                                                                                                                                        HAL_CAN_TxMailbox0CompleteCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0CompleteCallback)) -

                                                                                                                                                                        [Called By]

                                                                                                                                                                        • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                          HAL_CAN_TxMailbox0CompleteCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0CompleteCallback)) +

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   HAL_CAN_IRQHandler
                                                                                                                                                                          -

                                                                                                                                                                          HAL_CAN_TxMailbox1AbortCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1AbortCallback)) -

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                            HAL_CAN_TxMailbox1AbortCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1AbortCallback)) +

                                                                                                                                                                            [Called By]

                                                                                                                                                                            • >>   HAL_CAN_IRQHandler
                                                                                                                                                                            -

                                                                                                                                                                            HAL_CAN_TxMailbox1CompleteCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1CompleteCallback)) -

                                                                                                                                                                            [Called By]

                                                                                                                                                                            • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                              HAL_CAN_TxMailbox1CompleteCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1CompleteCallback)) +

                                                                                                                                                                              [Called By]

                                                                                                                                                                              • >>   HAL_CAN_IRQHandler
                                                                                                                                                                              -

                                                                                                                                                                              HAL_CAN_TxMailbox2AbortCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2AbortCallback)) -

                                                                                                                                                                              [Called By]

                                                                                                                                                                              • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                                HAL_CAN_TxMailbox2AbortCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2AbortCallback)) +

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   HAL_CAN_IRQHandler
                                                                                                                                                                                -

                                                                                                                                                                                HAL_CAN_TxMailbox2CompleteCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2CompleteCallback)) -

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                                  HAL_CAN_TxMailbox2CompleteCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2CompleteCallback)) +

                                                                                                                                                                                  [Called By]

                                                                                                                                                                                  • >>   HAL_CAN_IRQHandler
                                                                                                                                                                                  -

                                                                                                                                                                                  HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)) -

                                                                                                                                                                                  [Called By]

                                                                                                                                                                                  • >>   HAL_CAN_IRQHandler +

                                                                                                                                                                                    HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)) +

                                                                                                                                                                                    [Called By]

                                                                                                                                                                                    • >>   HAL_CAN_IRQHandler
                                                                                                                                                                                    -

                                                                                                                                                                                    HAL_DMA_IRQHandler (Thumb, 448 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)) +

                                                                                                                                                                                    HAL_DMA_IRQHandler (Thumb, 448 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                    • Call Chain = HAL_DMA_IRQHandler

                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   DMA2_Stream3_IRQHandler @@ -847,393 +942,383 @@ Global Symbols
                                                                                                                                                                                    • >>   DMA1_Stream1_IRQHandler
                                                                                                                                                                                    -

                                                                                                                                                                                    HAL_DMA_Init (Thumb, 354 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)) +

                                                                                                                                                                                    HAL_DMA_Init (Thumb, 354 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                    • Call Chain = HAL_DMA_Init
                                                                                                                                                                                    -
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   HAL_GetTick +
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   HAL_GetTick
                                                                                                                                                                                      -
                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   HAL_UART_MspInit -
                                                                                                                                                                                      • >>   HAL_SPI_MspInit +
                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   HAL_UART_MspInit +
                                                                                                                                                                                        • >>   HAL_SPI_MspInit
                                                                                                                                                                                        -

                                                                                                                                                                                        HAL_DMA_Start_IT (Thumb, 158 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)) +

                                                                                                                                                                                        HAL_DMA_Start_IT (Thumb, 158 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT))

                                                                                                                                                                                        [Stack]

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

                                                                                                                                                                                          HAL_Delay (Thumb, 40 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_Delay)) +

                                                                                                                                                                                          HAL_Delay (Thumb, 40 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_Delay))

                                                                                                                                                                                          [Stack]

                                                                                                                                                                                          • Max Depth = 16
                                                                                                                                                                                          • Call Chain = HAL_Delay
                                                                                                                                                                                          -
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   HAL_GetTick +
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   HAL_GetTick
                                                                                                                                                                                            -
                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   Gimbal_init -
                                                                                                                                                                                            • >>   Chassis_init +
                                                                                                                                                                                              [Called By]
                                                                                                                                                                                              • >>   Gimbal_init +
                                                                                                                                                                                              • >>   Chassis_init
                                                                                                                                                                                              • >>   main -
                                                                                                                                                                                              • >>   ist8310_delay_ms +
                                                                                                                                                                                              • >>   ist8310_delay_ms
                                                                                                                                                                                              -

                                                                                                                                                                                              HAL_GPIO_EXTI_Callback (Thumb, 20 bytes, Stack size 0 bytes, main.o(.text.HAL_GPIO_EXTI_Callback)) -

                                                                                                                                                                                              [Stack]

                                                                                                                                                                                              • Max Depth = 152
                                                                                                                                                                                              • Call Chain = HAL_GPIO_EXTI_Callback ⇒ ist8310_read_mag ⇒ ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                                                                                              -
                                                                                                                                                                                              [Calls]
                                                                                                                                                                                              • >>   ist8310_read_mag -
                                                                                                                                                                                              -
                                                                                                                                                                                              [Called By]
                                                                                                                                                                                              • >>   HAL_GPIO_EXTI_IRQHandler +

                                                                                                                                                                                                HAL_GPIO_EXTI_Callback (Thumb, 2 bytes, Stack size 0 bytes, main.o(.text.HAL_GPIO_EXTI_Callback)) +

                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                • >>   HAL_GPIO_EXTI_IRQHandler
                                                                                                                                                                                                -

                                                                                                                                                                                                HAL_GPIO_EXTI_IRQHandler (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)) -

                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                • Max Depth = 152
                                                                                                                                                                                                • Call Chain = HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback ⇒ ist8310_read_mag ⇒ ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                                                                                                -
                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                • >>   HAL_GPIO_EXTI_Callback +

                                                                                                                                                                                                  HAL_GPIO_EXTI_IRQHandler (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)) +

                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                  • >>   HAL_GPIO_EXTI_Callback

                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                  • >>   EXTI9_5_IRQHandler
                                                                                                                                                                                                  • >>   EXTI4_IRQHandler
                                                                                                                                                                                                  • >>   EXTI3_IRQHandler
                                                                                                                                                                                                  -

                                                                                                                                                                                                  HAL_GPIO_Init (Thumb, 434 bytes, Stack size 44 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)) +

                                                                                                                                                                                                  HAL_GPIO_Init (Thumb, 434 bytes, Stack size 44 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 44
                                                                                                                                                                                                  • Call Chain = HAL_GPIO_Init
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                  • >>   HAL_UART_MspInit -
                                                                                                                                                                                                  • >>   HAL_SPI_MspInit -
                                                                                                                                                                                                  • >>   HAL_I2C_MspInit -
                                                                                                                                                                                                  • >>   HAL_CAN_MspInit -
                                                                                                                                                                                                  • >>   MX_TIM10_Init -
                                                                                                                                                                                                  • >>   MX_GPIO_Init -
                                                                                                                                                                                                  - -

                                                                                                                                                                                                  HAL_GPIO_WritePin (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)) -

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   MX_GPIO_Init -
                                                                                                                                                                                                  • >>   ist8310_RST_H -
                                                                                                                                                                                                  • >>   ist8310_RST_L -
                                                                                                                                                                                                  • >>   BMI088_GYRO_NS_H -
                                                                                                                                                                                                  • >>   BMI088_GYRO_NS_L -
                                                                                                                                                                                                  • >>   BMI088_ACCEL_NS_H -
                                                                                                                                                                                                  • >>   BMI088_ACCEL_NS_L -
                                                                                                                                                                                                  - -

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

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   HAL_SPI_TransmitReceive -
                                                                                                                                                                                                  • >>   SPI_EndRxTxTransaction -
                                                                                                                                                                                                  • >>   HAL_I2C_Mem_Read -
                                                                                                                                                                                                  • >>   HAL_I2C_Mem_Write -
                                                                                                                                                                                                  • >>   I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                                                                                                  • >>   I2C_RequestMemoryRead -
                                                                                                                                                                                                  • >>   I2C_RequestMemoryWrite -
                                                                                                                                                                                                  • >>   I2C_WaitOnBTFFlagUntilTimeout -
                                                                                                                                                                                                  • >>   I2C_WaitOnFlagUntilTimeout -
                                                                                                                                                                                                  • >>   HAL_CAN_Start -
                                                                                                                                                                                                  • >>   HAL_DMA_Init -
                                                                                                                                                                                                  • >>   HAL_CAN_Init -
                                                                                                                                                                                                  • >>   HAL_Delay -
                                                                                                                                                                                                  • >>   HAL_RCC_ClockConfig -
                                                                                                                                                                                                  • >>   HAL_RCC_OscConfig -
                                                                                                                                                                                                  - -

                                                                                                                                                                                                  HAL_I2C_Init (Thumb, 374 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)) +
                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   HAL_UART_MspInit +
                                                                                                                                                                                                  • >>   HAL_SPI_MspInit +
                                                                                                                                                                                                  • >>   HAL_I2C_MspInit +
                                                                                                                                                                                                  • >>   HAL_CAN_MspInit +
                                                                                                                                                                                                  • >>   MX_TIM10_Init +
                                                                                                                                                                                                  • >>   MX_GPIO_Init +
                                                                                                                                                                                                  + +

                                                                                                                                                                                                  HAL_GPIO_WritePin (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)) +

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   MX_GPIO_Init +
                                                                                                                                                                                                  • >>   ist8310_RST_H +
                                                                                                                                                                                                  • >>   ist8310_RST_L +
                                                                                                                                                                                                  • >>   BMI088_GYRO_NS_H +
                                                                                                                                                                                                  • >>   BMI088_GYRO_NS_L +
                                                                                                                                                                                                  • >>   BMI088_ACCEL_NS_H +
                                                                                                                                                                                                  • >>   BMI088_ACCEL_NS_L +
                                                                                                                                                                                                  + +

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

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   HAL_SPI_TransmitReceive +
                                                                                                                                                                                                  • >>   SPI_EndRxTxTransaction +
                                                                                                                                                                                                  • >>   HAL_I2C_Mem_Read +
                                                                                                                                                                                                  • >>   HAL_I2C_Mem_Write +
                                                                                                                                                                                                  • >>   I2C_WaitOnMasterAddressFlagUntilTimeout +
                                                                                                                                                                                                  • >>   I2C_RequestMemoryRead +
                                                                                                                                                                                                  • >>   I2C_RequestMemoryWrite +
                                                                                                                                                                                                  • >>   I2C_WaitOnBTFFlagUntilTimeout +
                                                                                                                                                                                                  • >>   I2C_WaitOnFlagUntilTimeout +
                                                                                                                                                                                                  • >>   HAL_CAN_Start +
                                                                                                                                                                                                  • >>   HAL_DMA_Init +
                                                                                                                                                                                                  • >>   HAL_CAN_Init +
                                                                                                                                                                                                  • >>   HAL_Delay +
                                                                                                                                                                                                  • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                  • >>   HAL_RCC_OscConfig +
                                                                                                                                                                                                  + +

                                                                                                                                                                                                  HAL_I2C_Init (Thumb, 374 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 124
                                                                                                                                                                                                  • Call Chain = HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                  • >>   HAL_RCC_GetPCLK1Freq -
                                                                                                                                                                                                  • >>   HAL_I2C_MspInit +
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   HAL_RCC_GetPCLK1Freq +
                                                                                                                                                                                                    • >>   HAL_I2C_MspInit
                                                                                                                                                                                                    -
                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                    • >>   MX_I2C3_Init +
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   MX_I2C3_Init
                                                                                                                                                                                                      -

                                                                                                                                                                                                      HAL_I2C_Mem_Read (Thumb, 878 bytes, Stack size 48 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read)) +

                                                                                                                                                                                                      HAL_I2C_Mem_Read (Thumb, 878 bytes, Stack size 48 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read))

                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                      • Max Depth = 112
                                                                                                                                                                                                      • Call Chain = HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                      • >>   I2C_RequestMemoryRead -
                                                                                                                                                                                                      • >>   HAL_GetTick +
                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                        • >>   I2C_RequestMemoryRead +
                                                                                                                                                                                                        • >>   HAL_GetTick
                                                                                                                                                                                                        -
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   ist8310_IIC_read_muli_reg -
                                                                                                                                                                                                        • >>   ist8310_IIC_read_single_reg +
                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                          • >>   ist8310_IIC_read_single_reg
                                                                                                                                                                                                          -

                                                                                                                                                                                                          HAL_I2C_Mem_Write (Thumb, 474 bytes, Stack size 40 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Write)) +

                                                                                                                                                                                                          HAL_I2C_Mem_Write (Thumb, 474 bytes, Stack size 40 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Write))

                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                          • Max Depth = 72
                                                                                                                                                                                                          • Call Chain = HAL_I2C_Mem_Write ⇒ I2C_RequestMemoryWrite
                                                                                                                                                                                                          -
                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                          • >>   I2C_RequestMemoryWrite -
                                                                                                                                                                                                          • >>   I2C_WaitOnBTFFlagUntilTimeout -
                                                                                                                                                                                                          • >>   HAL_GetTick +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   I2C_RequestMemoryWrite +
                                                                                                                                                                                                            • >>   I2C_WaitOnBTFFlagUntilTimeout +
                                                                                                                                                                                                            • >>   HAL_GetTick
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   ist8310_IIC_write_single_reg +
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   ist8310_IIC_write_single_reg
                                                                                                                                                                                                              -

                                                                                                                                                                                                              HAL_I2C_MspInit (Thumb, 180 bytes, Stack size 64 bytes, i2c.o(.text.HAL_I2C_MspInit)) +

                                                                                                                                                                                                              HAL_I2C_MspInit (Thumb, 180 bytes, Stack size 64 bytes, i2c.o(.text.HAL_I2C_MspInit))

                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                              • Max Depth = 108
                                                                                                                                                                                                              • Call Chain = HAL_I2C_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                              -
                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   HAL_GPIO_Init
                                                                                                                                                                                                                -
                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   HAL_I2C_Init +
                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   HAL_I2C_Init
                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                  • >>   SysTick_Handler
                                                                                                                                                                                                                  -

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

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

                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                  • Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                  -
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   HAL_NVIC_SetPriorityGrouping -
                                                                                                                                                                                                                  • >>   HAL_InitTick -
                                                                                                                                                                                                                  • >>   HAL_MspInit +
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriorityGrouping +
                                                                                                                                                                                                                    • >>   HAL_InitTick +
                                                                                                                                                                                                                    • >>   HAL_MspInit

                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                    • >>   main
                                                                                                                                                                                                                    -

                                                                                                                                                                                                                    HAL_InitTick (Thumb, 72 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick)) +

                                                                                                                                                                                                                    HAL_InitTick (Thumb, 72 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick))

                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                    • Call Chain = HAL_InitTick ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                    -
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   HAL_SYSTICK_Config -
                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                      • >>   HAL_SYSTICK_Config +
                                                                                                                                                                                                                      • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                      -
                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                      • >>   HAL_RCC_ClockConfig -
                                                                                                                                                                                                                      • >>   HAL_Init +
                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                                        • >>   HAL_Init
                                                                                                                                                                                                                        -

                                                                                                                                                                                                                        HAL_MspInit (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit)) +

                                                                                                                                                                                                                        HAL_MspInit (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit))

                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                        • Max Depth = 16
                                                                                                                                                                                                                        • Call Chain = HAL_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                        -
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                          -
                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   HAL_Init +
                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   HAL_Init
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            HAL_NVIC_EnableIRQ (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)) -

                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                            • >>   HAL_UART_MspInit -
                                                                                                                                                                                                                            • >>   HAL_TIM_Base_MspInit -
                                                                                                                                                                                                                            • >>   HAL_CAN_MspInit -
                                                                                                                                                                                                                            • >>   MX_DMA_Init -
                                                                                                                                                                                                                            • >>   MX_GPIO_Init +

                                                                                                                                                                                                                              HAL_NVIC_EnableIRQ (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)) +

                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                              • >>   HAL_UART_MspInit +
                                                                                                                                                                                                                              • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                                                                                              • >>   HAL_CAN_MspInit +
                                                                                                                                                                                                                              • >>   MX_DMA_Init +
                                                                                                                                                                                                                              • >>   MX_GPIO_Init
                                                                                                                                                                                                                              -

                                                                                                                                                                                                                              HAL_NVIC_SetPriority (Thumb, 86 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)) +

                                                                                                                                                                                                                              HAL_NVIC_SetPriority (Thumb, 86 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))

                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                              • Max Depth = 8
                                                                                                                                                                                                                              • Call Chain = HAL_NVIC_SetPriority
                                                                                                                                                                                                                              -
                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   HAL_InitTick -
                                                                                                                                                                                                                              • >>   HAL_MspInit -
                                                                                                                                                                                                                              • >>   HAL_UART_MspInit -
                                                                                                                                                                                                                              • >>   HAL_TIM_Base_MspInit -
                                                                                                                                                                                                                              • >>   HAL_CAN_MspInit -
                                                                                                                                                                                                                              • >>   MX_DMA_Init -
                                                                                                                                                                                                                              • >>   MX_GPIO_Init +
                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   HAL_InitTick +
                                                                                                                                                                                                                                • >>   HAL_MspInit +
                                                                                                                                                                                                                                • >>   HAL_UART_MspInit +
                                                                                                                                                                                                                                • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                                                                                                • >>   HAL_CAN_MspInit +
                                                                                                                                                                                                                                • >>   MX_DMA_Init +
                                                                                                                                                                                                                                • >>   MX_GPIO_Init
                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                HAL_NVIC_SetPriorityGrouping (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)) -

                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                • >>   HAL_Init +

                                                                                                                                                                                                                                  HAL_NVIC_SetPriorityGrouping (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)) +

                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                  • >>   HAL_Init
                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                  HAL_RCC_ClockConfig (Thumb, 352 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)) +

                                                                                                                                                                                                                                  HAL_RCC_ClockConfig (Thumb, 352 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))

                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                  • Max Depth = 72
                                                                                                                                                                                                                                  • Call Chain = HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   HAL_InitTick -
                                                                                                                                                                                                                                  • >>   HAL_RCC_GetSysClockFreq -
                                                                                                                                                                                                                                  • >>   HAL_GetTick +
                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   HAL_InitTick +
                                                                                                                                                                                                                                    • >>   HAL_RCC_GetSysClockFreq +
                                                                                                                                                                                                                                    • >>   HAL_GetTick

                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   main
                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                    HAL_RCC_GetPCLK1Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)) -

                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                    • >>   HAL_I2C_Init -
                                                                                                                                                                                                                                    • >>   UART_SetConfig +

                                                                                                                                                                                                                                      HAL_RCC_GetPCLK1Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)) +

                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                      • >>   HAL_I2C_Init +
                                                                                                                                                                                                                                      • >>   UART_SetConfig
                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                      HAL_RCC_GetPCLK2Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)) -

                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                      • >>   UART_SetConfig +

                                                                                                                                                                                                                                        HAL_RCC_GetPCLK2Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)) +

                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                        • >>   UART_SetConfig
                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                        HAL_RCC_GetSysClockFreq (Thumb, 106 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)) +

                                                                                                                                                                                                                                        HAL_RCC_GetSysClockFreq (Thumb, 106 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))

                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                        • Max Depth = 48
                                                                                                                                                                                                                                        • Call Chain = HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod

                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   __aeabi_uldivmod
                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                          • >>   HAL_RCC_ClockConfig
                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                          HAL_RCC_OscConfig (Thumb, 868 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)) +

                                                                                                                                                                                                                                          HAL_RCC_OscConfig (Thumb, 868 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))

                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                          • Max Depth = 32
                                                                                                                                                                                                                                          • Call Chain = HAL_RCC_OscConfig
                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   HAL_GetTick +
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   HAL_GetTick

                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            HAL_SPI_Init (Thumb, 116 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)) +

                                                                                                                                                                                                                                            HAL_SPI_Init (Thumb, 116 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init))

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 116
                                                                                                                                                                                                                                            • Call Chain = HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   HAL_SPI_MspInit +
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   HAL_SPI_MspInit
                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   MX_SPI1_Init +
                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                • >>   MX_SPI1_Init
                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                HAL_SPI_MspInit (Thumb, 290 bytes, Stack size 56 bytes, spi.o(.text.HAL_SPI_MspInit)) +

                                                                                                                                                                                                                                                HAL_SPI_MspInit (Thumb, 290 bytes, Stack size 56 bytes, spi.o(.text.HAL_SPI_MspInit))

                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                • Max Depth = 100
                                                                                                                                                                                                                                                • Call Chain = HAL_SPI_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                • >>   HAL_DMA_Init -
                                                                                                                                                                                                                                                • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                                                • >>   Error_Handler +
                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                  • >>   HAL_DMA_Init +
                                                                                                                                                                                                                                                  • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                  • >>   Error_Handler
                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                  • >>   HAL_SPI_Init +
                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                    • >>   HAL_SPI_Init
                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                    HAL_SPI_TransmitReceive (Thumb, 664 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)) +

                                                                                                                                                                                                                                                    HAL_SPI_TransmitReceive (Thumb, 664 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive))

                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                    • Max Depth = 56
                                                                                                                                                                                                                                                    • Call Chain = HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction
                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                    • >>   SPI_EndRxTxTransaction -
                                                                                                                                                                                                                                                    • >>   HAL_GetTick +
                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                      • >>   SPI_EndRxTxTransaction +
                                                                                                                                                                                                                                                      • >>   HAL_GetTick
                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                      • >>   BMI088_read_write_byte +
                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                        • >>   BMI088_read_write_byte
                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                        HAL_SYSTICK_Config (Thumb, 44 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)) -

                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                        • >>   HAL_InitTick +

                                                                                                                                                                                                                                                          HAL_SYSTICK_Config (Thumb, 44 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)) +

                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                          • >>   HAL_InitTick
                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                          HAL_TIMEx_BreakCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)) -

                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                          • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                                                                                                            HAL_TIMEx_BreakCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)) +

                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                            • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                            HAL_TIMEx_CommutCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)) -

                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                            • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                                                                                                              HAL_TIMEx_CommutCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)) +

                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                              • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                              HAL_TIMEx_MasterConfigSynchronization (Thumb, 182 bytes, Stack size 8 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)) +

                                                                                                                                                                                                                                                              HAL_TIMEx_MasterConfigSynchronization (Thumb, 182 bytes, Stack size 8 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))

                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                              • Max Depth = 8
                                                                                                                                                                                                                                                              • Call Chain = HAL_TIMEx_MasterConfigSynchronization
                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                              • >>   MX_TIM3_Init +
                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                • >>   MX_TIM3_Init
                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                HAL_TIM_Base_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)) +

                                                                                                                                                                                                                                                                HAL_TIM_Base_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init))

                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                • Max Depth = 32
                                                                                                                                                                                                                                                                • Call Chain = HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                • >>   HAL_TIM_Base_MspInit -
                                                                                                                                                                                                                                                                • >>   TIM_Base_SetConfig +
                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                  • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                                                                                                                                  • >>   TIM_Base_SetConfig
                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                  • >>   MX_TIM3_Init -
                                                                                                                                                                                                                                                                  • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                    • >>   MX_TIM3_Init +
                                                                                                                                                                                                                                                                    • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                    HAL_TIM_Base_MspInit (Thumb, 118 bytes, Stack size 16 bytes, tim.o(.text.HAL_TIM_Base_MspInit)) +

                                                                                                                                                                                                                                                                    HAL_TIM_Base_MspInit (Thumb, 118 bytes, Stack size 16 bytes, tim.o(.text.HAL_TIM_Base_MspInit))

                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                                                                    • Call Chain = HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                    • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                      • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                                                                                                      • >>   HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                      • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                        • >>   HAL_TIM_Base_Init
                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                        HAL_TIM_Base_Start_IT (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Start_IT)) +

                                                                                                                                                                                                                                                                        HAL_TIM_Base_Start_IT (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Start_IT))

                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                        • >>   main
                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                        HAL_TIM_ConfigClockSource (Thumb, 402 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)) +

                                                                                                                                                                                                                                                                        HAL_TIM_ConfigClockSource (Thumb, 402 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource))

                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                        • Max Depth = 8
                                                                                                                                                                                                                                                                        • Call Chain = HAL_TIM_ConfigClockSource
                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                        • >>   MX_TIM3_Init +
                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                          • >>   MX_TIM3_Init
                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                          HAL_TIM_IC_CaptureCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)) -

                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                          • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                                                                                                                            HAL_TIM_IC_CaptureCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)) +

                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                            • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                            HAL_TIM_IRQHandler (Thumb, 368 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)) -

                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                            • Max Depth = 192
                                                                                                                                                                                                                                                                            • Call Chain = HAL_TIM_IRQHandler ⇒ HAL_TIM_PeriodElapsedCallback ⇒ Gimbal_set_angle ⇒ PID_angle_output ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round +

                                                                                                                                                                                                                                                                              HAL_TIM_IRQHandler (Thumb, 368 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)) +

                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                              • Max Depth = 272
                                                                                                                                                                                                                                                                              • Call Chain = HAL_TIM_IRQHandler ⇒ HAL_TIM_PeriodElapsedCallback ⇒ INS_get_data ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki
                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                              • >>   HAL_TIM_PeriodElapsedCallback -
                                                                                                                                                                                                                                                                              • >>   HAL_TIM_OC_DelayElapsedCallback -
                                                                                                                                                                                                                                                                              • >>   HAL_TIM_TriggerCallback -
                                                                                                                                                                                                                                                                              • >>   HAL_TIMEx_BreakCallback -
                                                                                                                                                                                                                                                                              • >>   HAL_TIMEx_CommutCallback -
                                                                                                                                                                                                                                                                              • >>   HAL_TIM_IC_CaptureCallback -
                                                                                                                                                                                                                                                                              • >>   HAL_TIM_PWM_PulseFinishedCallback +
                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                                                                                                                                                                                                • >>   HAL_TIM_OC_DelayElapsedCallback +
                                                                                                                                                                                                                                                                                • >>   HAL_TIM_TriggerCallback +
                                                                                                                                                                                                                                                                                • >>   HAL_TIMEx_BreakCallback +
                                                                                                                                                                                                                                                                                • >>   HAL_TIMEx_CommutCallback +
                                                                                                                                                                                                                                                                                • >>   HAL_TIM_IC_CaptureCallback +
                                                                                                                                                                                                                                                                                • >>   HAL_TIM_PWM_PulseFinishedCallback

                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                • >>   TIM3_IRQHandler
                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                HAL_TIM_OC_DelayElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)) -

                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                                                                                                                                  HAL_TIM_OC_DelayElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)) +

                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                  HAL_TIM_PWM_ConfigChannel (Thumb, 540 bytes, Stack size 28 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)) +

                                                                                                                                                                                                                                                                                  HAL_TIM_PWM_ConfigChannel (Thumb, 540 bytes, Stack size 28 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))

                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                  • Max Depth = 28
                                                                                                                                                                                                                                                                                  • Call Chain = HAL_TIM_PWM_ConfigChannel
                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                  • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                    • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                    HAL_TIM_PWM_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)) +

                                                                                                                                                                                                                                                                                    HAL_TIM_PWM_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))

                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                    • Call Chain = HAL_TIM_PWM_Init ⇒ TIM_Base_SetConfig
                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_PWM_MspInit -
                                                                                                                                                                                                                                                                                    • >>   TIM_Base_SetConfig +
                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_MspInit +
                                                                                                                                                                                                                                                                                      • >>   TIM_Base_SetConfig
                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                      • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                        • >>   MX_TIM10_Init
                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                        HAL_TIM_PWM_MspInit (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)) -

                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_Init +

                                                                                                                                                                                                                                                                                          HAL_TIM_PWM_MspInit (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)) +

                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_PWM_Init
                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                          HAL_TIM_PWM_PulseFinishedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)) -

                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                                                                                                                                            HAL_TIM_PWM_PulseFinishedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)) +

                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                            • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                            HAL_TIM_PeriodElapsedCallback (Thumb, 328 bytes, Stack size 24 bytes, main.o(.text.HAL_TIM_PeriodElapsedCallback)) -

                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                            • Max Depth = 184
                                                                                                                                                                                                                                                                                            • Call Chain = HAL_TIM_PeriodElapsedCallback ⇒ Gimbal_set_angle ⇒ PID_angle_output ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round +

                                                                                                                                                                                                                                                                                              HAL_TIM_PeriodElapsedCallback (Thumb, 108 bytes, Stack size 8 bytes, main.o(.text.HAL_TIM_PeriodElapsedCallback)) +

                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                              • Max Depth = 264
                                                                                                                                                                                                                                                                                              • Call Chain = HAL_TIM_PeriodElapsedCallback ⇒ INS_get_data ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki
                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                              • >>   Gimbal_set_angle -
                                                                                                                                                                                                                                                                                              • >>   Gimbal_RC -
                                                                                                                                                                                                                                                                                              • >>   Chassis_set_speed -
                                                                                                                                                                                                                                                                                              • >>   Chassis_RC -
                                                                                                                                                                                                                                                                                              • >>   MahonyAHRSupdate -
                                                                                                                                                                                                                                                                                              • >>   BMI088_read -
                                                                                                                                                                                                                                                                                              • >>   __hardfp_atan2f -
                                                                                                                                                                                                                                                                                              • >>   __hardfp_asinf +
                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                • >>   Gimbal_set_angle +
                                                                                                                                                                                                                                                                                                • >>   Gimbal_RC +
                                                                                                                                                                                                                                                                                                • >>   Chassis_set_speed +
                                                                                                                                                                                                                                                                                                • >>   Chassis_RC +
                                                                                                                                                                                                                                                                                                • >>   INS_get_data
                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                  HAL_TIM_TriggerCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)) -

                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                  • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                                                                                                                                                    HAL_TIM_TriggerCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)) +

                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_IRQHandler
                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                    HAL_UART_ErrorCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_ErrorCallback)) +

                                                                                                                                                                                                                                                                                                    HAL_UART_ErrorCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_ErrorCallback))

                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                    • >>   UART_DMAError
                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                    HAL_UART_Init (Thumb, 94 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init)) +

                                                                                                                                                                                                                                                                                                    HAL_UART_Init (Thumb, 94 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init))

                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                    • Max Depth = 92
                                                                                                                                                                                                                                                                                                    • Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                    • >>   HAL_UART_MspInit -
                                                                                                                                                                                                                                                                                                    • >>   UART_SetConfig +
                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_MspInit +
                                                                                                                                                                                                                                                                                                      • >>   UART_SetConfig
                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                      • >>   MX_USART3_UART_Init +
                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                        • >>   MX_USART3_UART_Init
                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                        HAL_UART_MspInit (Thumb, 192 bytes, Stack size 40 bytes, usart.o(.text.HAL_UART_MspInit)) +

                                                                                                                                                                                                                                                                                                        HAL_UART_MspInit (Thumb, 192 bytes, Stack size 40 bytes, usart.o(.text.HAL_UART_MspInit))

                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                        • Max Depth = 84
                                                                                                                                                                                                                                                                                                        • Call Chain = HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                        • >>   HAL_DMA_Init -
                                                                                                                                                                                                                                                                                                        • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                                                                                                                                        • >>   HAL_NVIC_SetPriority -
                                                                                                                                                                                                                                                                                                        • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                                                                                                        • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                          • >>   HAL_DMA_Init +
                                                                                                                                                                                                                                                                                                          • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                          • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                                                                          • >>   Error_Handler
                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Init
                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                            HAL_UART_Receive_DMA (Thumb, 162 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)) +

                                                                                                                                                                                                                                                                                                            HAL_UART_Receive_DMA (Thumb, 162 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA))

                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                            • Max Depth = 40
                                                                                                                                                                                                                                                                                                            • Call Chain = HAL_UART_Receive_DMA ⇒ HAL_DMA_Start_IT
                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                            • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                              • >>   HAL_DMA_Start_IT
                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                              • >>   controller_init +
                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                • >>   controller_init
                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                HAL_UART_RxCpltCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_RxCpltCallback)) +

                                                                                                                                                                                                                                                                                                                HAL_UART_RxCpltCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_RxCpltCallback))

                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                • >>   UART_DMAReceiveCplt
                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                HAL_UART_RxHalfCpltCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_RxHalfCpltCallback)) +

                                                                                                                                                                                                                                                                                                                HAL_UART_RxHalfCpltCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_RxHalfCpltCallback))

                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                • >>   UART_DMARxHalfCplt
                                                                                                                                                                                                                                                                                                                @@ -1244,97 +1329,109 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                              MX_CAN1_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN1_Init)) +

                                                                                                                                                                                                                                                                                                              INS_get_data (Thumb, 236 bytes, Stack size 16 bytes, apl_ins.o(.text.INS_get_data)) +

                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                              • Max Depth = 256
                                                                                                                                                                                                                                                                                                              • Call Chain = INS_get_data ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki +
                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                              • >>   get_angle +
                                                                                                                                                                                                                                                                                                              • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                              • >>   imu_cali_slove +
                                                                                                                                                                                                                                                                                                              • >>   BMI088_read +
                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                              • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                                                                                              INS_init (Thumb, 250 bytes, Stack size 16 bytes, apl_ins.o(.text.INS_init)) +

                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                              • Max Depth = 180
                                                                                                                                                                                                                                                                                                              • Call Chain = INS_init ⇒ AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                              • >>   AHRS_init +
                                                                                                                                                                                                                                                                                                              • >>   imu_cali_slove +
                                                                                                                                                                                                                                                                                                              • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                              • >>   BMI088_read +
                                                                                                                                                                                                                                                                                                              • >>   BMI088_delay_us +
                                                                                                                                                                                                                                                                                                              • >>   BMI088_init +
                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                              • >>   main +
                                                                                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                                                                                              MX_CAN1_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN1_Init))

                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                              • Max Depth = 100
                                                                                                                                                                                                                                                                                                              • Call Chain = MX_CAN1_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                              • >>   HAL_CAN_Init -
                                                                                                                                                                                                                                                                                                              • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                • >>   HAL_CAN_Init +
                                                                                                                                                                                                                                                                                                                • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                • >>   main
                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                MX_DMA_Init (Thumb, 108 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init)) +

                                                                                                                                                                                                                                                                                                                MX_DMA_Init (Thumb, 108 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init))

                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                                                                                                                                                                • Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                                                                                                                                                • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                  • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                                                                                                                                                  • >>   HAL_NVIC_SetPriority

                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                  • >>   main
                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                  MX_GPIO_Init (Thumb, 360 bytes, Stack size 64 bytes, gpio.o(.text.MX_GPIO_Init)) +

                                                                                                                                                                                                                                                                                                                  MX_GPIO_Init (Thumb, 360 bytes, Stack size 64 bytes, gpio.o(.text.MX_GPIO_Init))

                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                  • Max Depth = 108
                                                                                                                                                                                                                                                                                                                  • Call Chain = MX_GPIO_Init ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                  • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                                                                                                                                                  • >>   HAL_NVIC_SetPriority -
                                                                                                                                                                                                                                                                                                                  • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                                                                                                                  • >>   HAL_GPIO_WritePin +
                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                    • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                                                                                                                    • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                                                                                    • >>   HAL_GPIO_WritePin

                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                    • >>   main
                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                    MX_I2C3_Init (Thumb, 66 bytes, Stack size 8 bytes, i2c.o(.text.MX_I2C3_Init)) +

                                                                                                                                                                                                                                                                                                                    MX_I2C3_Init (Thumb, 66 bytes, Stack size 8 bytes, i2c.o(.text.MX_I2C3_Init))

                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                    • Max Depth = 132
                                                                                                                                                                                                                                                                                                                    • Call Chain = MX_I2C3_Init ⇒ HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_Init -
                                                                                                                                                                                                                                                                                                                    • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_Init +
                                                                                                                                                                                                                                                                                                                      • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                      • >>   main
                                                                                                                                                                                                                                                                                                                      -

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

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

                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                      • Max Depth = 132
                                                                                                                                                                                                                                                                                                                      • Call Chain = MX_SPI1_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                      • >>   HAL_SPI_Init -
                                                                                                                                                                                                                                                                                                                      • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                        • >>   HAL_SPI_Init +
                                                                                                                                                                                                                                                                                                                        • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                        • >>   main
                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                        MX_TIM10_Init (Thumb, 190 bytes, Stack size 64 bytes, tim.o(.text.MX_TIM10_Init)) +

                                                                                                                                                                                                                                                                                                                        MX_TIM10_Init (Thumb, 190 bytes, Stack size 64 bytes, tim.o(.text.MX_TIM10_Init))

                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                        • Max Depth = 108
                                                                                                                                                                                                                                                                                                                        • Call Chain = MX_TIM10_Init ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_ConfigChannel -
                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_Init -
                                                                                                                                                                                                                                                                                                                        • >>   HAL_TIM_Base_Init -
                                                                                                                                                                                                                                                                                                                        • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                                                                                                                        • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                                                                          • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                                                                                                                          • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                          • >>   main
                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                          MX_TIM3_Init (Thumb, 116 bytes, Stack size 32 bytes, tim.o(.text.MX_TIM3_Init)) +

                                                                                                                                                                                                                                                                                                                          MX_TIM3_Init (Thumb, 116 bytes, Stack size 32 bytes, tim.o(.text.MX_TIM3_Init))

                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                          • Max Depth = 64
                                                                                                                                                                                                                                                                                                                          • Call Chain = MX_TIM3_Init ⇒ HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIMEx_MasterConfigSynchronization -
                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_ConfigClockSource -
                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_Base_Init -
                                                                                                                                                                                                                                                                                                                          • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                            • >>   HAL_TIMEx_MasterConfigSynchronization +
                                                                                                                                                                                                                                                                                                                            • >>   HAL_TIM_ConfigClockSource +
                                                                                                                                                                                                                                                                                                                            • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                                                                            • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                            MX_USART3_UART_Init (Thumb, 70 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init)) +

                                                                                                                                                                                                                                                                                                                            MX_USART3_UART_Init (Thumb, 70 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init))

                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                            • Max Depth = 100
                                                                                                                                                                                                                                                                                                                            • Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Init -
                                                                                                                                                                                                                                                                                                                            • >>   Error_Handler +
                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                              • >>   Error_Handler

                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                              MahonyAHRSupdate (Thumb, 956 bytes, Stack size 64 bytes, mahonyahrs.o(.text.MahonyAHRSupdate)) -

                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                              • Max Depth = 64
                                                                                                                                                                                                                                                                                                                              • Call Chain = MahonyAHRSupdate -
                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                              • >>   MahonyAHRSupdateIMU -
                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                              • >>   HAL_TIM_PeriodElapsedCallback -
                                                                                                                                                                                                                                                                                                                              - -

                                                                                                                                                                                                                                                                                                                              MahonyAHRSupdateIMU (Thumb, 620 bytes, Stack size 0 bytes, mahonyahrs.o(.text.MahonyAHRSupdateIMU)) -

                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                              • >>   MahonyAHRSupdate -
                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                              MemManage_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.MemManage_Handler))

                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                              • >>   MemManage_Handler
                                                                                                                                                                                                                                                                                                                              @@ -1345,33 +1442,37 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                              • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                              PID_angle_output (Thumb, 388 bytes, Stack size 56 bytes, apl_pid.o(.text.PID_angle_output)) +

                                                                                                                                                                                                                                                                                                                              PID_angle_output (Thumb, 388 bytes, Stack size 56 bytes, apl_pid.o(.text.PID_angle_output))

                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                              • Max Depth = 144
                                                                                                                                                                                                                                                                                                                              • Call Chain = PID_angle_output ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dcmplt -
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_d2f -
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dmul -
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_ddiv -
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_dsub -
                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_f2d +
                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_dcmplt +
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_dmul +
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_dsub +
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_d2f +
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                                                • >>   __aeabi_f2d
                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                • >>   Gimbal_set_angle +
                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_set_angle
                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                  PID_init_angle (Thumb, 34 bytes, Stack size 0 bytes, apl_pid.o(.text.PID_init_angle)) -

                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                  • >>   Gimbal_init +

                                                                                                                                                                                                                                                                                                                                    PID_init_angle (Thumb, 36 bytes, Stack size 0 bytes, apl_pid.o(.text.PID_init_angle)) +

                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_init
                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                    PID_init_speed (Thumb, 52 bytes, Stack size 8 bytes, apl_pid.o(.text.PID_init_speed)) -

                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                    • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                    • Call Chain = PID_init_speed -
                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_init -
                                                                                                                                                                                                                                                                                                                                    • >>   Chassis_init +

                                                                                                                                                                                                                                                                                                                                      PID_init_speed (Thumb, 38 bytes, Stack size 0 bytes, apl_pid.o(.text.PID_init_speed)) +

                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_init +
                                                                                                                                                                                                                                                                                                                                      • >>   Chassis_init
                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                      PID_speed_output (Thumb, 166 bytes, Stack size 0 bytes, apl_pid.o(.text.PID_speed_output)) -

                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                      • >>   Gimbal_set_angle -
                                                                                                                                                                                                                                                                                                                                      • >>   Chassis_set_speed +

                                                                                                                                                                                                                                                                                                                                        PID_speed_output (Thumb, 240 bytes, Stack size 24 bytes, apl_pid.o(.text.PID_speed_output)) +

                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                        • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                        • Call Chain = PID_speed_output ⇒ __aeabi_ddiv ⇒ _double_round +
                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_d2f +
                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_ddiv +
                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_f2d +
                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                        • >>   Gimbal_set_angle +
                                                                                                                                                                                                                                                                                                                                        • >>   Chassis_set_speed

                                                                                                                                                                                                                                                                                                                                        PendSV_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.PendSV_Handler)) @@ -1381,7 +1482,7 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 1]

                                                                                                                                                                                                                                                                                                                                        • startup_stm32f407xx.o(RESET)

                                                                                                                                                                                                                                                                                                                                        SysTick_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.SysTick_Handler)) -

                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                        • >>   HAL_IncTick +

                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                          • >>   HAL_IncTick

                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                          • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                                          @@ -1389,20 +1490,20 @@ Global Symbols
                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                          • startup_stm32f407xx.o(.text)

                                                                                                                                                                                                                                                                                                                                          TIM3_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.TIM3_IRQHandler)) -

                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                          • Max Depth = 192
                                                                                                                                                                                                                                                                                                                                          • Call Chain = TIM3_IRQHandler ⇒ HAL_TIM_IRQHandler ⇒ HAL_TIM_PeriodElapsedCallback ⇒ Gimbal_set_angle ⇒ PID_angle_output ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round +

                                                                                                                                                                                                                                                                                                                                            [Stack]
                                                                                                                                                                                                                                                                                                                                            • Max Depth = 272
                                                                                                                                                                                                                                                                                                                                            • Call Chain = TIM3_IRQHandler ⇒ HAL_TIM_IRQHandler ⇒ HAL_TIM_PeriodElapsedCallback ⇒ INS_get_data ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki
                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                            • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                              • >>   HAL_TIM_IRQHandler

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

                                                                                                                                                                                                                                                                                                                                              TIM_Base_SetConfig (Thumb, 316 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                              TIM_Base_SetConfig (Thumb, 316 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig))

                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                              • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                              • Call Chain = TIM_Base_SetConfig
                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                              • >>   HAL_TIM_PWM_Init -
                                                                                                                                                                                                                                                                                                                                              • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                                                                                                                                                • >>   HAL_TIM_Base_Init
                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                USART3_IDLE_IQR (Thumb, 168 bytes, Stack size 4 bytes, bsp_dbus.o(.text.USART3_IDLE_IQR)) +

                                                                                                                                                                                                                                                                                                                                                USART3_IDLE_IQR (Thumb, 168 bytes, Stack size 4 bytes, bsp_dbus.o(.text.USART3_IDLE_IQR))

                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                • Call Chain = USART3_IDLE_IQR

                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                • >>   USART3_IRQHandler @@ -1411,7 +1512,7 @@ Global Symbols

                                                                                                                                                                                                                                                                                                                                                  USART3_IRQHandler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.USART3_IRQHandler))

                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                  • Call Chain = USART3_IRQHandler ⇒ USART3_IDLE_IQR
                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                  • >>   USART3_IDLE_IQR +
                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                    • >>   USART3_IDLE_IQR

                                                                                                                                                                                                                                                                                                                                                    [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                    • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                                                                                                                    @@ -1422,299 +1523,403 @@ Global Symbols

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

                                                                                                                                                                                                                                                                                                                                                  bmi088_accel_init (Thumb, 592 bytes, Stack size 8 bytes, bmi088driver.o(.text.bmi088_accel_init)) +

                                                                                                                                                                                                                                                                                                                                                  bmi088_accel_init (Thumb, 592 bytes, Stack size 8 bytes, bmi088driver.o(.text.bmi088_accel_init))

                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 80
                                                                                                                                                                                                                                                                                                                                                  • Call Chain = bmi088_accel_init ⇒ BMI088_read_write_byte ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction
                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_delay_us -
                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_delay_ms -
                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_ACCEL_NS_H -
                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_read_write_byte -
                                                                                                                                                                                                                                                                                                                                                  • >>   BMI088_ACCEL_NS_L +
                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_delay_ms +
                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_delay_us +
                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_ACCEL_NS_H +
                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_read_write_byte +
                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_ACCEL_NS_L
                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_init +
                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_init
                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                      bmi088_gyro_init (Thumb, 530 bytes, Stack size 16 bytes, bmi088driver.o(.text.bmi088_gyro_init)) +

                                                                                                                                                                                                                                                                                                                                                      bmi088_gyro_init (Thumb, 530 bytes, Stack size 16 bytes, bmi088driver.o(.text.bmi088_gyro_init))

                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 88
                                                                                                                                                                                                                                                                                                                                                      • Call Chain = bmi088_gyro_init ⇒ BMI088_read_write_byte ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction
                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_delay_us -
                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_GYRO_NS_H -
                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_GYRO_NS_L -
                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_delay_ms -
                                                                                                                                                                                                                                                                                                                                                      • >>   BMI088_read_write_byte +
                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_GYRO_NS_H +
                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_GYRO_NS_L +
                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_delay_ms +
                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_delay_us +
                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_read_write_byte
                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                        • >>   BMI088_init +
                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                          • >>   BMI088_init
                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                          can_filter_init (Thumb, 60 bytes, Stack size 48 bytes, bsp_can.o(.text.can_filter_init)) +

                                                                                                                                                                                                                                                                                                                                                          can_filter_init (Thumb, 60 bytes, Stack size 48 bytes, bsp_can.o(.text.can_filter_init))

                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                          • Call Chain = can_filter_init ⇒ HAL_CAN_Start
                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_CAN_ActivateNotification -
                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_CAN_Start -
                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_CAN_ConfigFilter +
                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_CAN_ActivateNotification +
                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_CAN_Start +
                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_CAN_ConfigFilter

                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                            controller_init (Thumb, 48 bytes, Stack size 8 bytes, bsp_dbus.o(.text.controller_init)) +

                                                                                                                                                                                                                                                                                                                                                            controller_init (Thumb, 48 bytes, Stack size 8 bytes, bsp_dbus.o(.text.controller_init))

                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                            • Call Chain = controller_init ⇒ HAL_UART_Receive_DMA ⇒ HAL_DMA_Start_IT
                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Receive_DMA +
                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_Receive_DMA

                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                              ist8310_GPIO_init (Thumb, 2 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_GPIO_init)) -

                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                              • >>   ist8310_init +

                                                                                                                                                                                                                                                                                                                                                                ist8310_GPIO_init (Thumb, 2 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_GPIO_init)) +

                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                ist8310_IIC_read_muli_reg (Thumb, 40 bytes, Stack size 24 bytes, ist8310driver_middleware.o(.text.ist8310_IIC_read_muli_reg)) -

                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 136
                                                                                                                                                                                                                                                                                                                                                                • Call Chain = ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_Mem_Read -
                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                • >>   ist8310_read_mag -
                                                                                                                                                                                                                                                                                                                                                                - -

                                                                                                                                                                                                                                                                                                                                                                ist8310_IIC_read_single_reg (Thumb, 54 bytes, Stack size 24 bytes, ist8310driver_middleware.o(.text.ist8310_IIC_read_single_reg)) +

                                                                                                                                                                                                                                                                                                                                                                ist8310_IIC_read_single_reg (Thumb, 54 bytes, Stack size 24 bytes, ist8310driver_middleware.o(.text.ist8310_IIC_read_single_reg))

                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 136
                                                                                                                                                                                                                                                                                                                                                                • Call Chain = ist8310_IIC_read_single_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_Mem_Read +
                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_I2C_Mem_Read
                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                  • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                    • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                    ist8310_IIC_write_single_reg (Thumb, 48 bytes, Stack size 24 bytes, ist8310driver_middleware.o(.text.ist8310_IIC_write_single_reg)) +

                                                                                                                                                                                                                                                                                                                                                                    ist8310_IIC_write_single_reg (Thumb, 48 bytes, Stack size 24 bytes, ist8310driver_middleware.o(.text.ist8310_IIC_write_single_reg))

                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 96
                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = ist8310_IIC_write_single_reg ⇒ HAL_I2C_Mem_Write ⇒ I2C_RequestMemoryWrite
                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_I2C_Mem_Write +
                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_Mem_Write
                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                      • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                        ist8310_RST_H (Thumb, 16 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_RST_H)) -

                                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_GPIO_WritePin +

                                                                                                                                                                                                                                                                                                                                                                          ist8310_RST_H (Thumb, 16 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_RST_H)) +

                                                                                                                                                                                                                                                                                                                                                                          [Calls]

                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_GPIO_WritePin
                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                            • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                            ist8310_RST_L (Thumb, 16 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_RST_L)) -

                                                                                                                                                                                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_GPIO_WritePin +

                                                                                                                                                                                                                                                                                                                                                                              ist8310_RST_L (Thumb, 16 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_RST_L)) +

                                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_GPIO_WritePin
                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                              • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                ist8310_com_init (Thumb, 2 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_com_init)) -

                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                • >>   ist8310_init +

                                                                                                                                                                                                                                                                                                                                                                                  ist8310_com_init (Thumb, 2 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_com_init)) +

                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                  • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                  ist8310_delay_ms (Thumb, 4 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_delay_ms)) +

                                                                                                                                                                                                                                                                                                                                                                                  ist8310_delay_ms (Thumb, 4 bytes, Stack size 0 bytes, ist8310driver_middleware.o(.text.ist8310_delay_ms))

                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = ist8310_delay_ms ⇒ HAL_Delay
                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_Delay +
                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_Delay
                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                      ist8310_delay_us (Thumb, 74 bytes, Stack size 8 bytes, ist8310driver_middleware.o(.text.ist8310_delay_us)) +

                                                                                                                                                                                                                                                                                                                                                                                      ist8310_delay_us (Thumb, 74 bytes, Stack size 8 bytes, ist8310driver_middleware.o(.text.ist8310_delay_us))

                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = ist8310_delay_us
                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   ist8310_init +
                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_init
                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                        ist8310_init (Thumb, 204 bytes, Stack size 8 bytes, ist8310driver.o(.text.ist8310_init)) +

                                                                                                                                                                                                                                                                                                                                                                                        ist8310_init (Thumb, 204 bytes, Stack size 8 bytes, ist8310driver.o(.text.ist8310_init))

                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 144
                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = ist8310_init ⇒ ist8310_IIC_read_single_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_delay_us -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_IIC_write_single_reg -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_IIC_read_single_reg -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_RST_H -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_delay_ms -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_RST_L -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_com_init -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   ist8310_GPIO_init +
                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_delay_us +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_IIC_write_single_reg +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_IIC_read_single_reg +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_RST_H +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_delay_ms +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_RST_L +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_com_init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   ist8310_GPIO_init +
                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   INS_init +
                                                                                                                                                                                                                                                                                                                                                                                          + +

                                                                                                                                                                                                                                                                                                                                                                                          main (Thumb, 214 bytes, Stack size 72 bytes, main.o(.text.main)) +

                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 252
                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = main ⇒ INS_init ⇒ AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   INS_init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_TIM_Base_Start_IT +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_Delay +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   Gimbal_init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   Chassis_init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   can_filter_init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   controller_init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_TIM3_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_CAN1_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_USART3_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_I2C3_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_SPI1_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_DMA_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   MX_GPIO_Init +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_RCC_OscConfig +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_Init
                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   main +
                                                                                                                                                                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                            • entry9a.o(.ARM.Collect$$$$0000000B)
                                                                                                                                                                                                                                                                                                                                                                                            - -

                                                                                                                                                                                                                                                                                                                                                                                            ist8310_read_mag (Thumb, 92 bytes, Stack size 16 bytes, ist8310driver.o(.text.ist8310_read_mag)) -

                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 152
                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = ist8310_read_mag ⇒ ist8310_IIC_read_muli_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout +

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

                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 164
                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   ist8310_IIC_read_muli_reg +
                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   angle_to_quat +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_asinf +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_get_latitude +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_get_height
                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_GPIO_EXTI_Callback +
                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   INS_init
                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                  main (Thumb, 450 bytes, Stack size 72 bytes, main.o(.text.main)) -

                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 216
                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = main ⇒ ist8310_init ⇒ ist8310_IIC_read_single_reg ⇒ HAL_I2C_Mem_Read ⇒ I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout +

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

                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 240
                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki
                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_delay_us -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   ist8310_init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   BMI088_init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_TIM_Base_Start_IT -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_Delay -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Gimbal_init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Chassis_init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   can_filter_init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   controller_init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_TIM3_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_CAN1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_USART3_UART_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_I2C3_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_TIM10_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_SPI1_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_DMA_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   MX_GPIO_Init -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_RCC_ClockConfig -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_RCC_OscConfig -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_Init +
                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_memclr4 +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   update_w +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   quat_normalization +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   accel_comple_filter
                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                      [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                      • entry9a.o(.ARM.Collect$$$$0000000B) +
                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   INS_get_data
                                                                                                                                                                                                                                                                                                                                                                                                        -

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

                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __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
                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                          __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 -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   sqrtf -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_infnan -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   sqrtf +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __set_errno
                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                                                                                                                                                                                                                                                                                                                              [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]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_flt_infnan2 +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __set_errno +
                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                                + +

                                                                                                                                                                                                                                                                                                                                                                                                                __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]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __set_errno +
                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

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

                                                                                                                                                                                                                                                                                                                                                                                                                  __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_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_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_atan2f -
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_asinf +

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

                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

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

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

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

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

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

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

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   sqrtf -
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_atan2f -
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __hardfp_asinf +

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

                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   sqrtf +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __hardfp_asinf
                                                                                                                                                                                                                                                                                                                                                                                                                            -

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

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

                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = get_angle ⇒ AHRS_atan2f ⇒ __hardfp_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_atan2f +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   AHRS_asinf +
                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   INS_get_data +
                                                                                                                                                                                                                                                                                                                                                                                                                            + +

                                                                                                                                                                                                                                                                                                                                                                                                                            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

                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_WaitOnFlagUntilTimeout (Thumb, 336 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnFlagUntilTimeout)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_WaitOnFlagUntilTimeout (Thumb, 336 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnFlagUntilTimeout))

                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = I2C_WaitOnFlagUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_GetTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   I2C_RequestMemoryRead +
                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   I2C_RequestMemoryRead
                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_WaitOnBTFFlagUntilTimeout (Thumb, 168 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnBTFFlagUntilTimeout)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                    I2C_WaitOnBTFFlagUntilTimeout (Thumb, 168 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnBTFFlagUntilTimeout))

                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = I2C_WaitOnBTFFlagUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_GetTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_I2C_Mem_Write +
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_I2C_Mem_Write
                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_RequestMemoryWrite (Thumb, 626 bytes, Stack size 32 bytes, stm32f4xx_hal_i2c.o(.text.I2C_RequestMemoryWrite)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                        I2C_RequestMemoryWrite (Thumb, 626 bytes, Stack size 32 bytes, stm32f4xx_hal_i2c.o(.text.I2C_RequestMemoryWrite))

                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = I2C_RequestMemoryWrite
                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_GetTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_I2C_Mem_Write +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_I2C_Mem_Write
                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                            I2C_RequestMemoryRead (Thumb, 798 bytes, Stack size 40 bytes, stm32f4xx_hal_i2c.o(.text.I2C_RequestMemoryRead)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                            I2C_RequestMemoryRead (Thumb, 798 bytes, Stack size 40 bytes, stm32f4xx_hal_i2c.o(.text.I2C_RequestMemoryRead))

                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = I2C_RequestMemoryRead ⇒ I2C_WaitOnMasterAddressFlagUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   I2C_WaitOnMasterAddressFlagUntilTimeout -
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   I2C_WaitOnFlagUntilTimeout -
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_GetTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   I2C_WaitOnMasterAddressFlagUntilTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   I2C_WaitOnFlagUntilTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_I2C_Mem_Read +
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_I2C_Mem_Read
                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_WaitOnMasterAddressFlagUntilTimeout (Thumb, 184 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnMasterAddressFlagUntilTimeout)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                I2C_WaitOnMasterAddressFlagUntilTimeout (Thumb, 184 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(.text.I2C_WaitOnMasterAddressFlagUntilTimeout))

                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = I2C_WaitOnMasterAddressFlagUntilTimeout
                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_GetTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   I2C_RequestMemoryRead +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   I2C_RequestMemoryRead
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPI_EndRxTxTransaction (Thumb, 288 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTxTransaction)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPI_EndRxTxTransaction (Thumb, 288 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTxTransaction))

                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = SPI_EndRxTxTransaction
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_GetTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_GetTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_SPI_TransmitReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_SPI_TransmitReceive
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                        UART_SetConfig (Thumb, 266 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                        UART_SetConfig (Thumb, 266 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = UART_SetConfig ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_RCC_GetPCLK2Freq -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_RCC_GetPCLK1Freq +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_RCC_GetPCLK2Freq +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_RCC_GetPCLK1Freq
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_Init

                                                                                                                                                                                                                                                                                                                                                                                                                                                            UART_DMAError (Thumb, 92 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_ErrorCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

                                                                                                                                                                                                                                                                                                                                                                                                                                                              UART_DMAReceiveCplt (Thumb, 54 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_RxCpltCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_RxCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                UART_DMARxHalfCplt (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_RxHalfCpltCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_RxHalfCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                imu_cali_slove (Thumb, 458 bytes, Stack size 0 bytes, apl_ins.o(.text.imu_cali_slove)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   INS_init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   INS_get_data +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   accel_update_kp_ki +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = accel_comple_filter ⇒ accel_update_kp_ki +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   accel_update_kp_ki +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = accel_update_kp_ki +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_fabs +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   accel_comple_filter +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 84
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = quat_normalization +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_invSqrt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

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

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   AHRS_update +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                Undefined Global Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC.lnp b/MDK-ARM/Chassis_typeC/Chassis_typeC.lnp index 8dfbb27941cff848e0188fe6631c260bdc65e00b..6b7bffb20e2e6dcd67f9c65ff9892179950ea4d1 100644 --- a/MDK-ARM/Chassis_typeC/Chassis_typeC.lnp +++ b/MDK-ARM/Chassis_typeC/Chassis_typeC.lnp @@ -37,11 +37,14 @@ "chassis_typec\ist8310driver.o" "chassis_typec\ist8310driver_middleware.o" "chassis_typec\mahonyahrs.o" +"..\Drivers\usr\AHRS.lib" +"chassis_typec\ahrs_middleware.o" "chassis_typec\bsp_can.o" "chassis_typec\bsp_dbus.o" "chassis_typec\drv_chassis.o" "chassis_typec\apl_pid.o" "chassis_typec\drv_gimbal.o" +"chassis_typec\apl_ins.o" --library_type=microlib --strict --scatter "Chassis_typeC\Chassis_typeC.sct" --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --info sizes --info totals --info unused --info veneers diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC.map b/MDK-ARM/Chassis_typeC/Chassis_typeC.map index e42eda7f40b5dc30eeb042bef8c851379f1d1cff..09d7820bdff94e882756a81f807da255185620e5 100644 --- a/MDK-ARM/Chassis_typeC/Chassis_typeC.map +++ b/MDK-ARM/Chassis_typeC/Chassis_typeC.map @@ -26,19 +26,9 @@ Section Cross References startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) for DMA2_Stream3_IRQHandler startup_stm32f407xx.o(.text) refers to system_stm32f4xx.o(.text.SystemInit) for SystemInit startup_stm32f407xx.o(.text) refers to entry.o(.ARM.Collect$$$$00000000) for __main - main.o(.text.get_angle) refers to atan2f.o(i.__hardfp_atan2f) for __hardfp_atan2f - main.o(.text.get_angle) refers to asinf.o(i.__hardfp_asinf) for __hardfp_asinf - main.o(.ARM.exidx.text.get_angle) refers to main.o(.text.get_angle) for [Anonymous Symbol] - main.o(.text.HAL_GPIO_EXTI_Callback) refers to main.o(.bss..L_MergedGlobals) for .L_MergedGlobals - main.o(.text.HAL_GPIO_EXTI_Callback) refers to ist8310driver.o(.text.ist8310_read_mag) for ist8310_read_mag main.o(.ARM.exidx.text.HAL_GPIO_EXTI_Callback) refers to main.o(.text.HAL_GPIO_EXTI_Callback) for [Anonymous Symbol] main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to tim.o(.bss.htim3) for htim3 - main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to main.o(.bss..L_MergedGlobals) for .L_MergedGlobals - main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to bmi088driver.o(.text.BMI088_read) for BMI088_read - main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to main.o(.data.INS_quat) for INS_quat - main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to mahonyahrs.o(.text.MahonyAHRSupdate) for MahonyAHRSupdate - main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to atan2f.o(i.__hardfp_atan2f) for __hardfp_atan2f - main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to asinf.o(i.__hardfp_asinf) for __hardfp_asinf + main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to apl_ins.o(.text.INS_get_data) for INS_get_data main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to drv_chassis.o(.text.Chassis_RC) for Chassis_RC main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to drv_chassis.o(.bss..L_MergedGlobals) for vx main.o(.text.HAL_TIM_PeriodElapsedCallback) refers to drv_chassis.o(.text.Chassis_set_speed) for Chassis_set_speed @@ -64,11 +54,7 @@ Section Cross References main.o(.text.main) refers to stm32f4xx_hal.o(.text.HAL_Delay) for HAL_Delay main.o(.text.main) refers to tim.o(.bss.htim3) for htim3 main.o(.text.main) refers to stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Start_IT) for HAL_TIM_Base_Start_IT - main.o(.text.main) refers to main.o(.bss.a) for a - main.o(.text.main) refers to bmi088driver.o(.text.BMI088_init) for BMI088_init - main.o(.text.main) refers to main.o(.data.x) for x - main.o(.text.main) refers to ist8310driver.o(.text.ist8310_init) for ist8310_init - main.o(.text.main) refers to bmi088middleware.o(.text.BMI088_delay_us) for BMI088_delay_us + main.o(.text.main) refers to apl_ins.o(.text.INS_init) for INS_init main.o(.ARM.exidx.text.main) refers to main.o(.text.main) for [Anonymous Symbol] main.o(.text.SystemClock_Config) refers to stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) for HAL_RCC_OscConfig main.o(.text.SystemClock_Config) refers to stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) for HAL_RCC_ClockConfig @@ -1234,6 +1220,21 @@ Section Cross References mahonyahrs.o(.text.MahonyAHRSupdateIMU) refers to mahonyahrs.o(.data.twoKp) for twoKp mahonyahrs.o(.ARM.exidx.text.MahonyAHRSupdateIMU) refers to mahonyahrs.o(.text.MahonyAHRSupdateIMU) for [Anonymous Symbol] mahonyahrs.o(.ARM.exidx.text.invSqrt) refers to mahonyahrs.o(.text.invSqrt) for [Anonymous Symbol] + ahrs_middleware.o(.ARM.exidx.text.AHRS_get_height) refers to ahrs_middleware.o(.text.AHRS_get_height) for [Anonymous Symbol] + ahrs_middleware.o(.ARM.exidx.text.AHRS_get_latitude) refers to ahrs_middleware.o(.text.AHRS_get_latitude) for [Anonymous Symbol] + ahrs_middleware.o(.ARM.exidx.text.AHRS_invSqrt) refers to ahrs_middleware.o(.text.AHRS_invSqrt) for [Anonymous Symbol] + ahrs_middleware.o(.text.AHRS_sinf) refers to sinf.o(i.__hardfp_sinf) for __hardfp_sinf + ahrs_middleware.o(.ARM.exidx.text.AHRS_sinf) refers to ahrs_middleware.o(.text.AHRS_sinf) for [Anonymous Symbol] + ahrs_middleware.o(.text.AHRS_cosf) refers to cosf.o(i.__hardfp_cosf) for __hardfp_cosf + ahrs_middleware.o(.ARM.exidx.text.AHRS_cosf) refers to ahrs_middleware.o(.text.AHRS_cosf) for [Anonymous Symbol] + ahrs_middleware.o(.text.AHRS_tanf) refers to tanf.o(i.__hardfp_tanf) for __hardfp_tanf + ahrs_middleware.o(.ARM.exidx.text.AHRS_tanf) refers to ahrs_middleware.o(.text.AHRS_tanf) for [Anonymous Symbol] + ahrs_middleware.o(.text.AHRS_asinf) refers to asinf.o(i.__hardfp_asinf) for __hardfp_asinf + ahrs_middleware.o(.ARM.exidx.text.AHRS_asinf) refers to ahrs_middleware.o(.text.AHRS_asinf) for [Anonymous Symbol] + ahrs_middleware.o(.text.AHRS_acosf) refers to acosf.o(i.__hardfp_acosf) for __hardfp_acosf + ahrs_middleware.o(.ARM.exidx.text.AHRS_acosf) refers to ahrs_middleware.o(.text.AHRS_acosf) for [Anonymous Symbol] + ahrs_middleware.o(.text.AHRS_atan2f) refers to atan2f.o(i.__hardfp_atan2f) for __hardfp_atan2f + ahrs_middleware.o(.ARM.exidx.text.AHRS_atan2f) refers to ahrs_middleware.o(.text.AHRS_atan2f) for [Anonymous Symbol] bsp_can.o(.text.can_filter_init) refers to can.o(.bss.hcan1) for hcan1 bsp_can.o(.text.can_filter_init) refers to stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) for HAL_CAN_ConfigFilter bsp_can.o(.text.can_filter_init) refers to stm32f4xx_hal_can.o(.text.HAL_CAN_Start) for HAL_CAN_Start @@ -1259,9 +1260,11 @@ Section Cross References bsp_dbus.o(.ARM.exidx.text.USART3_IDLE_IQR) refers to bsp_dbus.o(.text.USART3_IDLE_IQR) for [Anonymous Symbol] bsp_dbus.o(.ARM.exidx.text.sbus_to_rc) refers to bsp_dbus.o(.text.sbus_to_rc) for [Anonymous Symbol] drv_chassis.o(.text.PID_chassis_init) refers to drv_chassis.o(.bss.wheel) for wheel + drv_chassis.o(.text.PID_chassis_init) refers to apl_pid.o(.data.k_speed_chassis) for k_speed_chassis drv_chassis.o(.text.PID_chassis_init) refers to apl_pid.o(.text.PID_init_speed) for PID_init_speed drv_chassis.o(.ARM.exidx.text.PID_chassis_init) refers to drv_chassis.o(.text.PID_chassis_init) for [Anonymous Symbol] drv_chassis.o(.text.Chassis_init) refers to drv_chassis.o(.bss.wheel) for wheel + drv_chassis.o(.text.Chassis_init) refers to apl_pid.o(.data.k_speed_chassis) for k_speed_chassis drv_chassis.o(.text.Chassis_init) refers to apl_pid.o(.text.PID_init_speed) for PID_init_speed drv_chassis.o(.text.Chassis_init) refers to drv_chassis.o(.bss..L_MergedGlobals) for .L_MergedGlobals drv_chassis.o(.text.Chassis_init) refers to bsp_can.o(.text.CAN_cmd_chassis) for CAN_cmd_chassis @@ -1278,6 +1281,9 @@ Section Cross References drv_chassis.o(.ARM.exidx.text.Chassis_set_speed) refers to drv_chassis.o(.text.Chassis_set_speed) for [Anonymous Symbol] apl_pid.o(.ARM.exidx.text.PID_init_speed) refers to apl_pid.o(.text.PID_init_speed) for [Anonymous Symbol] apl_pid.o(.ARM.exidx.text.PID_init_angle) refers to apl_pid.o(.text.PID_init_angle) for [Anonymous Symbol] + apl_pid.o(.text.PID_speed_output) refers to f2d.o(.text) for __aeabi_f2d + apl_pid.o(.text.PID_speed_output) refers to ddiv.o(.text) for __aeabi_ddiv + apl_pid.o(.text.PID_speed_output) refers to d2f.o(.text) for __aeabi_d2f apl_pid.o(.ARM.exidx.text.PID_speed_output) refers to apl_pid.o(.text.PID_speed_output) for [Anonymous Symbol] apl_pid.o(.text.PID_angle_output) refers to f2d.o(.text) for __aeabi_f2d apl_pid.o(.text.PID_angle_output) refers to dadd.o(.text) for __aeabi_dsub @@ -1286,24 +1292,17 @@ Section Cross References apl_pid.o(.text.PID_angle_output) refers to d2f.o(.text) for __aeabi_d2f apl_pid.o(.text.PID_angle_output) refers to dcmplt.o(.text) for __aeabi_dcmplt apl_pid.o(.ARM.exidx.text.PID_angle_output) refers to apl_pid.o(.text.PID_angle_output) for [Anonymous Symbol] - apl_pid.o(.text.PID_set_speed) refers to bsp_dbus.o(.bss..L_MergedGlobals) for rc_ctl - apl_pid.o(.text.PID_set_speed) refers to dfltui.o(.text) for __aeabi_ui2d - apl_pid.o(.text.PID_set_speed) refers to dadd.o(.text) for __aeabi_dadd - apl_pid.o(.text.PID_set_speed) refers to dmul.o(.text) for __aeabi_dmul - apl_pid.o(.text.PID_set_speed) refers to ddiv.o(.text) for __aeabi_ddiv - apl_pid.o(.text.PID_set_speed) refers to d2f.o(.text) for __aeabi_d2f - apl_pid.o(.text.PID_set_speed) refers to apl_pid.o(.bss..L_MergedGlobals) for .L_MergedGlobals - apl_pid.o(.text.PID_set_speed) refers to bsp_can.o(.bss.motor_data) for motor_data - apl_pid.o(.text.PID_set_speed) refers to apl_pid.o(.text.PID_angle_output) for PID_angle_output - apl_pid.o(.text.PID_set_speed) refers to bsp_can.o(.text.CAN_cmd_chassis) for CAN_cmd_chassis - apl_pid.o(.ARM.exidx.text.PID_set_speed) refers to apl_pid.o(.text.PID_set_speed) for [Anonymous Symbol] drv_gimbal.o(.text.PID_gimbal_init) refers to drv_gimbal.o(.bss..L_MergedGlobals) for .L_MergedGlobals + drv_gimbal.o(.text.PID_gimbal_init) refers to apl_pid.o(.data.k_angle_gimbal) for k_angle_gimbal drv_gimbal.o(.text.PID_gimbal_init) refers to apl_pid.o(.text.PID_init_angle) for PID_init_angle + drv_gimbal.o(.text.PID_gimbal_init) refers to apl_pid.o(.data.k_speed_gimbal) for k_speed_gimbal drv_gimbal.o(.text.PID_gimbal_init) refers to apl_pid.o(.text.PID_init_speed) for PID_init_speed drv_gimbal.o(.text.PID_gimbal_init) refers to drv_gimbal.o(.bss.gimbal_pitch_speed) for gimbal_pitch_speed drv_gimbal.o(.ARM.exidx.text.PID_gimbal_init) refers to drv_gimbal.o(.text.PID_gimbal_init) for [Anonymous Symbol] drv_gimbal.o(.text.Gimbal_init) refers to drv_gimbal.o(.bss..L_MergedGlobals) for .L_MergedGlobals + drv_gimbal.o(.text.Gimbal_init) refers to apl_pid.o(.data.k_angle_gimbal) for k_angle_gimbal drv_gimbal.o(.text.Gimbal_init) refers to apl_pid.o(.text.PID_init_angle) for PID_init_angle + drv_gimbal.o(.text.Gimbal_init) refers to apl_pid.o(.data.k_speed_gimbal) for k_speed_gimbal drv_gimbal.o(.text.Gimbal_init) refers to apl_pid.o(.text.PID_init_speed) for PID_init_speed drv_gimbal.o(.text.Gimbal_init) refers to drv_gimbal.o(.bss.gimbal_pitch_speed) for gimbal_pitch_speed drv_gimbal.o(.text.Gimbal_init) refers to bsp_can.o(.bss.motor_data) for motor_data @@ -1311,7 +1310,13 @@ Section Cross References drv_gimbal.o(.text.Gimbal_init) refers to stm32f4xx_hal.o(.text.HAL_Delay) for HAL_Delay drv_gimbal.o(.ARM.exidx.text.Gimbal_init) refers to drv_gimbal.o(.text.Gimbal_init) for [Anonymous Symbol] drv_gimbal.o(.text.Gimbal_RC) refers to bsp_dbus.o(.bss..L_MergedGlobals) for rc_ctl + drv_gimbal.o(.text.Gimbal_RC) refers to dfltui.o(.text) for __aeabi_ui2d + drv_gimbal.o(.text.Gimbal_RC) refers to dadd.o(.text) for __aeabi_dadd + drv_gimbal.o(.text.Gimbal_RC) refers to dmul.o(.text) for __aeabi_dmul + drv_gimbal.o(.text.Gimbal_RC) refers to ddiv.o(.text) for __aeabi_ddiv drv_gimbal.o(.text.Gimbal_RC) refers to drv_gimbal.o(.bss..L_MergedGlobals) for .L_MergedGlobals + drv_gimbal.o(.text.Gimbal_RC) refers to f2d.o(.text) for __aeabi_f2d + drv_gimbal.o(.text.Gimbal_RC) refers to d2f.o(.text) for __aeabi_d2f drv_gimbal.o(.ARM.exidx.text.Gimbal_RC) refers to drv_gimbal.o(.text.Gimbal_RC) for [Anonymous Symbol] drv_gimbal.o(.text.Gimbal_set_angle) refers to bsp_can.o(.bss.motor_data) for motor_data drv_gimbal.o(.text.Gimbal_set_angle) refers to drv_gimbal.o(.bss..L_MergedGlobals) for .L_MergedGlobals @@ -1319,6 +1324,65 @@ Section Cross References drv_gimbal.o(.text.Gimbal_set_angle) refers to apl_pid.o(.text.PID_speed_output) for PID_speed_output drv_gimbal.o(.text.Gimbal_set_angle) refers to bsp_can.o(.text.CAN_cmd_gimbal) for CAN_cmd_gimbal drv_gimbal.o(.ARM.exidx.text.Gimbal_set_angle) refers to drv_gimbal.o(.text.Gimbal_set_angle) for [Anonymous Symbol] + apl_ins.o(.text.INS_init) refers to bmi088driver.o(.text.BMI088_init) for BMI088_init + apl_ins.o(.text.INS_init) refers to ist8310driver.o(.text.ist8310_init) for ist8310_init + apl_ins.o(.text.INS_init) refers to bmi088middleware.o(.text.BMI088_delay_us) for BMI088_delay_us + apl_ins.o(.text.INS_init) refers to apl_ins.o(.data.INS_quat) for INS_quat + apl_ins.o(.text.INS_init) refers to apl_ins.o(.bss.bmi088_real_data) for bmi088_real_data + apl_ins.o(.text.INS_init) refers to bmi088driver.o(.text.BMI088_read) for BMI088_read + apl_ins.o(.text.INS_init) refers to apl_ins.o(.text.imu_cali_slove) for imu_cali_slove + apl_ins.o(.text.INS_init) refers to apl_ins.o(.bss..L_MergedGlobals.1) for .L_MergedGlobals.1 + apl_ins.o(.text.INS_init) refers to ahrs.o(i.AHRS_init) for AHRS_init + apl_ins.o(.ARM.exidx.text.INS_init) refers to apl_ins.o(.text.INS_init) for [Anonymous Symbol] + apl_ins.o(.text.imu_cali_slove) refers to apl_ins.o(.bss.bmi088_real_data) for bmi088_real_data + apl_ins.o(.text.imu_cali_slove) refers to apl_ins.o(.data..L_MergedGlobals) for .L_MergedGlobals + apl_ins.o(.text.imu_cali_slove) refers to apl_ins.o(.bss..L_MergedGlobals.1) for .L_MergedGlobals.1 + apl_ins.o(.ARM.exidx.text.imu_cali_slove) refers to apl_ins.o(.text.imu_cali_slove) for [Anonymous Symbol] + apl_ins.o(.text.INS_get_data) refers to apl_ins.o(.bss.bmi088_real_data) for bmi088_real_data + apl_ins.o(.text.INS_get_data) refers to bmi088driver.o(.text.BMI088_read) for BMI088_read + apl_ins.o(.text.INS_get_data) refers to apl_ins.o(.text.imu_cali_slove) for imu_cali_slove + apl_ins.o(.text.INS_get_data) refers to apl_ins.o(.bss..L_MergedGlobals.1) for .L_MergedGlobals.1 + apl_ins.o(.text.INS_get_data) refers to apl_ins.o(.data.INS_quat) for INS_quat + apl_ins.o(.text.INS_get_data) refers to ahrs.o(i.AHRS_update) for AHRS_update + apl_ins.o(.text.INS_get_data) refers to ahrs.o(i.get_angle) for get_angle + apl_ins.o(.ARM.exidx.text.INS_get_data) refers to apl_ins.o(.text.INS_get_data) for [Anonymous Symbol] + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_get_height) for AHRS_get_height + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_get_latitude) for AHRS_get_latitude + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_sinf) for AHRS_sinf + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_invSqrt) for AHRS_invSqrt + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_asinf) for AHRS_asinf + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_atan2f) for AHRS_atan2f + ahrs.o(i.AHRS_init) refers to ahrs_middleware.o(.text.AHRS_cosf) for AHRS_cosf + ahrs.o(i.AHRS_init) refers to ahrs.o(i.angle_to_quat) for angle_to_quat + ahrs.o(i.AHRS_init) refers to ahrs.o(.data) for local_hight + ahrs.o(i.AHRS_update) refers to ahrs.o(i.accel_comple_filter) for accel_comple_filter + ahrs.o(i.AHRS_update) refers to memseta.o(.text) for __aeabi_memclr4 + ahrs.o(i.AHRS_update) refers to ahrs.o(i.update_w) for update_w + ahrs.o(i.AHRS_update) refers to ahrs.o(i.quat_normalization) for quat_normalization + ahrs.o(i.accel_comple_filter) refers to ahrs.o(i.accel_update_kp_ki) for accel_update_kp_ki + ahrs.o(i.accel_comple_filter) refers to ahrs_middleware.o(.text.AHRS_invSqrt) for AHRS_invSqrt + ahrs.o(i.accel_comple_filter) refers to ahrs.o(.constdata) for .constdata + ahrs.o(i.accel_update_kp_ki) refers to ahrs_middleware.o(.text.AHRS_invSqrt) for AHRS_invSqrt + ahrs.o(i.accel_update_kp_ki) refers to ahrs.o(i.AHRS_fabs) for AHRS_fabs + ahrs.o(i.accel_update_kp_ki) refers to ahrs.o(.data) for carrier_gravity + ahrs.o(i.angle_to_quat) refers to ahrs_middleware.o(.text.AHRS_cosf) for AHRS_cosf + ahrs.o(i.angle_to_quat) refers to ahrs_middleware.o(.text.AHRS_sinf) for AHRS_sinf + ahrs.o(i.get_angle) refers to ahrs_middleware.o(.text.AHRS_asinf) for AHRS_asinf + ahrs.o(i.get_angle) refers to ahrs_middleware.o(.text.AHRS_atan2f) for AHRS_atan2f + ahrs.o(i.get_carrier_gravity) refers to ahrs.o(.data) for carrier_gravity + ahrs.o(i.get_pitch) refers to ahrs_middleware.o(.text.AHRS_asinf) for AHRS_asinf + ahrs.o(i.get_roll) refers to ahrs_middleware.o(.text.AHRS_atan2f) for AHRS_atan2f + ahrs.o(i.get_yaw) refers to ahrs_middleware.o(.text.AHRS_atan2f) for AHRS_atan2f + ahrs.o(i.quat_normalization) refers to ahrs_middleware.o(.text.AHRS_invSqrt) for AHRS_invSqrt + acosf.o(i.__hardfp_acosf) refers (Special) to iusefp.o(.text) for __I$use$fp + acosf.o(i.__hardfp_acosf) refers to sqrtf.o(i.sqrtf) for sqrtf + acosf.o(i.__hardfp_acosf) refers to funder.o(i.__mathlib_flt_infnan) for __mathlib_flt_infnan + acosf.o(i.__hardfp_acosf) refers to errno.o(i.__set_errno) for __set_errno + acosf.o(i.__hardfp_acosf) refers to funder.o(i.__mathlib_flt_invalid) for __mathlib_flt_invalid + acosf.o(i.__softfp_acosf) refers (Special) to iusefp.o(.text) for __I$use$fp + acosf.o(i.__softfp_acosf) refers to acosf.o(i.__hardfp_acosf) for __hardfp_acosf + acosf.o(i.acosf) refers (Special) to iusefp.o(.text) for __I$use$fp + acosf.o(i.acosf) refers to acosf.o(i.__hardfp_acosf) for __hardfp_acosf asinf.o(i.__hardfp_asinf) refers (Special) to iusefp.o(.text) for __I$use$fp asinf.o(i.__hardfp_asinf) refers to sqrtf.o(i.sqrtf) for sqrtf asinf.o(i.__hardfp_asinf) refers to fpclassifyf.o(i.__ARM_fpclassifyf) for __ARM_fpclassifyf @@ -1339,6 +1403,37 @@ Section Cross References atan2f.o(i.__softfp_atan2f) refers to atan2f.o(i.__hardfp_atan2f) for __hardfp_atan2f atan2f.o(i.atan2f) refers (Special) to iusefp.o(.text) for __I$use$fp atan2f.o(i.atan2f) refers to atan2f.o(i.__hardfp_atan2f) for __hardfp_atan2f + cosf.o(i.__hardfp_cosf) refers (Special) to iusefp.o(.text) for __I$use$fp + cosf.o(i.__hardfp_cosf) refers to rredf.o(i.__mathlib_rredf2) for __mathlib_rredf2 + cosf.o(i.__hardfp_cosf) refers to errno.o(i.__set_errno) for __set_errno + cosf.o(i.__hardfp_cosf) refers to funder.o(i.__mathlib_flt_invalid) for __mathlib_flt_invalid + cosf.o(i.__hardfp_cosf) refers to funder.o(i.__mathlib_flt_infnan) for __mathlib_flt_infnan + cosf.o(i.__softfp_cosf) refers (Special) to iusefp.o(.text) for __I$use$fp + cosf.o(i.__softfp_cosf) refers to cosf.o(i.__hardfp_cosf) for __hardfp_cosf + cosf.o(i.cosf) refers (Special) to iusefp.o(.text) for __I$use$fp + cosf.o(i.cosf) refers to cosf.o(i.__hardfp_cosf) for __hardfp_cosf + sinf.o(i.__hardfp_sinf) refers (Special) to iusefp.o(.text) for __I$use$fp + sinf.o(i.__hardfp_sinf) refers to rredf.o(i.__mathlib_rredf2) for __mathlib_rredf2 + sinf.o(i.__hardfp_sinf) refers to fpclassifyf.o(i.__ARM_fpclassifyf) for __ARM_fpclassifyf + sinf.o(i.__hardfp_sinf) refers to funder.o(i.__mathlib_flt_underflow) for __mathlib_flt_underflow + sinf.o(i.__hardfp_sinf) refers to errno.o(i.__set_errno) for __set_errno + sinf.o(i.__hardfp_sinf) refers to funder.o(i.__mathlib_flt_invalid) for __mathlib_flt_invalid + sinf.o(i.__hardfp_sinf) refers to funder.o(i.__mathlib_flt_infnan) for __mathlib_flt_infnan + sinf.o(i.__softfp_sinf) refers (Special) to iusefp.o(.text) for __I$use$fp + sinf.o(i.__softfp_sinf) refers to sinf.o(i.__hardfp_sinf) for __hardfp_sinf + sinf.o(i.sinf) refers (Special) to iusefp.o(.text) for __I$use$fp + sinf.o(i.sinf) refers to sinf.o(i.__hardfp_sinf) for __hardfp_sinf + tanf.o(i.__hardfp_tanf) refers (Special) to iusefp.o(.text) for __I$use$fp + tanf.o(i.__hardfp_tanf) refers to rredf.o(i.__mathlib_rredf2) for __mathlib_rredf2 + tanf.o(i.__hardfp_tanf) refers to fpclassifyf.o(i.__ARM_fpclassifyf) for __ARM_fpclassifyf + tanf.o(i.__hardfp_tanf) refers to funder.o(i.__mathlib_flt_underflow) for __mathlib_flt_underflow + tanf.o(i.__hardfp_tanf) refers to errno.o(i.__set_errno) for __set_errno + tanf.o(i.__hardfp_tanf) refers to funder.o(i.__mathlib_flt_invalid) for __mathlib_flt_invalid + tanf.o(i.__hardfp_tanf) refers to funder.o(i.__mathlib_flt_infnan) for __mathlib_flt_infnan + tanf.o(i.__softfp_tanf) refers (Special) to iusefp.o(.text) for __I$use$fp + tanf.o(i.__softfp_tanf) refers to tanf.o(i.__hardfp_tanf) for __hardfp_tanf + tanf.o(i.tanf) refers (Special) to iusefp.o(.text) for __I$use$fp + tanf.o(i.tanf) refers to tanf.o(i.__hardfp_tanf) for __hardfp_tanf entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry10a.o(.ARM.Collect$$$$0000000D) for __rt_final_cpp entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry11a.o(.ARM.Collect$$$$0000000F) for __rt_final_exit entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry7b.o(.ARM.Collect$$$$00000008) for _main_clock @@ -1363,6 +1458,9 @@ Section Cross References d2f.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp d2f.o(.text) refers to fepilogue.o(.text) for _float_round fpclassifyf.o(i.__ARM_fpclassifyf) refers (Special) to iusefp.o(.text) for __I$use$fp + rredf.o(i.__mathlib_rredf2) refers (Special) to iusefp.o(.text) for __I$use$fp + rredf.o(i.__mathlib_rredf2) refers to rredf.o(.constdata) for .constdata + rredf.o(.constdata) refers (Special) to iusefp.o(.text) for __I$use$fp sqrtf.o(i.__hardfp_sqrtf) refers (Special) to iusefp.o(.text) for __I$use$fp sqrtf.o(i.__hardfp_sqrtf) refers to errno.o(i.__set_errno) for __set_errno sqrtf.o(i.__softfp_sqrtf) refers (Special) to iusefp.o(.text) for __I$use$fp @@ -1392,15 +1490,13 @@ Removing Unused input sections from the image. Removing startup_stm32f407xx.o(HEAP), (512 bytes). Removing main.o(.text), (0 bytes). - Removing main.o(.text.get_angle), (188 bytes). - Removing main.o(.ARM.exidx.text.get_angle), (8 bytes). Removing main.o(.ARM.exidx.text.HAL_GPIO_EXTI_Callback), (8 bytes). Removing main.o(.ARM.exidx.text.HAL_TIM_PeriodElapsedCallback), (8 bytes). Removing main.o(.ARM.exidx.text.main), (8 bytes). Removing main.o(.text.SystemClock_Config), (142 bytes). Removing main.o(.ARM.exidx.text.SystemClock_Config), (8 bytes). Removing main.o(.ARM.exidx.text.Error_Handler), (8 bytes). - Removing main.o(.bss.onto), (4 bytes). + Removing main.o(.data.ss), (4 bytes). Removing main.o(.ARM.use_no_argv), (4 bytes). Removing gpio.o(.text), (0 bytes). Removing gpio.o(.ARM.exidx.text.MX_GPIO_Init), (8 bytes). @@ -2399,12 +2495,14 @@ Removing Unused input sections from the image. Removing ist8310driver.o(.ARM.exidx.text.ist8310_init), (8 bytes). Removing ist8310driver.o(.text.ist8310_read_over), (92 bytes). Removing ist8310driver.o(.ARM.exidx.text.ist8310_read_over), (8 bytes). + Removing ist8310driver.o(.text.ist8310_read_mag), (92 bytes). Removing ist8310driver.o(.ARM.exidx.text.ist8310_read_mag), (8 bytes). Removing ist8310driver_middleware.o(.text), (0 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_GPIO_init), (8 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_com_init), (8 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_IIC_read_single_reg), (8 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_IIC_write_single_reg), (8 bytes). + Removing ist8310driver_middleware.o(.text.ist8310_IIC_read_muli_reg), (40 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_IIC_read_muli_reg), (8 bytes). Removing ist8310driver_middleware.o(.text.ist8310_IIC_write_muli_reg), (40 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_IIC_write_muli_reg), (8 bytes). @@ -2413,10 +2511,26 @@ Removing Unused input sections from the image. Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_RST_H), (8 bytes). Removing ist8310driver_middleware.o(.ARM.exidx.text.ist8310_RST_L), (8 bytes). Removing mahonyahrs.o(.text), (0 bytes). + Removing mahonyahrs.o(.text.MahonyAHRSupdate), (956 bytes). Removing mahonyahrs.o(.ARM.exidx.text.MahonyAHRSupdate), (8 bytes). + Removing mahonyahrs.o(.text.MahonyAHRSupdateIMU), (620 bytes). Removing mahonyahrs.o(.ARM.exidx.text.MahonyAHRSupdateIMU), (8 bytes). Removing mahonyahrs.o(.text.invSqrt), (50 bytes). Removing mahonyahrs.o(.ARM.exidx.text.invSqrt), (8 bytes). + Removing mahonyahrs.o(.data.twoKp), (4 bytes). + Removing mahonyahrs.o(.bss..L_MergedGlobals), (16 bytes). + Removing ahrs_middleware.o(.text), (0 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_get_height), (8 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_get_latitude), (8 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_invSqrt), (8 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_sinf), (8 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_cosf), (8 bytes). + Removing ahrs_middleware.o(.text.AHRS_tanf), (4 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_tanf), (8 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_asinf), (8 bytes). + Removing ahrs_middleware.o(.text.AHRS_acosf), (4 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_acosf), (8 bytes). + Removing ahrs_middleware.o(.ARM.exidx.text.AHRS_atan2f), (8 bytes). Removing bsp_can.o(.text), (0 bytes). Removing bsp_can.o(.ARM.exidx.text.can_filter_init), (8 bytes). Removing bsp_can.o(.ARM.exidx.text.CAN_cmd_chassis), (8 bytes). @@ -2428,7 +2542,7 @@ Removing Unused input sections from the image. Removing bsp_dbus.o(.text.sbus_to_rc), (140 bytes). Removing bsp_dbus.o(.ARM.exidx.text.sbus_to_rc), (8 bytes). Removing drv_chassis.o(.text), (0 bytes). - Removing drv_chassis.o(.text.PID_chassis_init), (76 bytes). + Removing drv_chassis.o(.text.PID_chassis_init), (92 bytes). Removing drv_chassis.o(.ARM.exidx.text.PID_chassis_init), (8 bytes). Removing drv_chassis.o(.ARM.exidx.text.Chassis_init), (8 bytes). Removing drv_chassis.o(.ARM.exidx.text.Chassis_RC), (8 bytes). @@ -2439,18 +2553,29 @@ Removing Unused input sections from the image. Removing apl_pid.o(.ARM.exidx.text.PID_init_angle), (8 bytes). Removing apl_pid.o(.ARM.exidx.text.PID_speed_output), (8 bytes). Removing apl_pid.o(.ARM.exidx.text.PID_angle_output), (8 bytes). - Removing apl_pid.o(.text.PID_set_speed), (360 bytes). - Removing apl_pid.o(.ARM.exidx.text.PID_set_speed), (8 bytes). - Removing apl_pid.o(.bss..L_MergedGlobals), (88 bytes). + Removing apl_pid.o(.bss.output), (8 bytes). Removing drv_gimbal.o(.text), (0 bytes). - Removing drv_gimbal.o(.text.PID_gimbal_init), (92 bytes). + Removing drv_gimbal.o(.text.PID_gimbal_init), (116 bytes). Removing drv_gimbal.o(.ARM.exidx.text.PID_gimbal_init), (8 bytes). Removing drv_gimbal.o(.ARM.exidx.text.Gimbal_init), (8 bytes). Removing drv_gimbal.o(.ARM.exidx.text.Gimbal_RC), (8 bytes). Removing drv_gimbal.o(.ARM.exidx.text.Gimbal_set_angle), (8 bytes). - Removing dfltui.o(.text), (26 bytes). + Removing apl_ins.o(.text), (0 bytes). + Removing apl_ins.o(.ARM.exidx.text.INS_init), (8 bytes). + Removing apl_ins.o(.ARM.exidx.text.imu_cali_slove), (8 bytes). + Removing apl_ins.o(.ARM.exidx.text.INS_get_data), (8 bytes). + Removing apl_ins.o(.bss.onto), (4 bytes). + Removing apl_ins.o(.bss.mag), (12 bytes). + Removing apl_ins.o(.bss.gyro_cali_offset), (12 bytes). + Removing apl_ins.o(.bss.accel_cali_offset), (12 bytes). + Removing apl_ins.o(.bss.mag_cali_offset), (12 bytes). + Removing apl_ins.o(.bss.temp), (4 bytes). + Removing ahrs.o(i.get_carrier_gravity), (12 bytes). + Removing ahrs.o(i.get_pitch), (46 bytes). + Removing ahrs.o(i.get_roll), (82 bytes). + Removing ahrs.o(i.get_yaw), (82 bytes). -1059 unused section(s) (total 54756 bytes) removed from the image. +1086 unused section(s) (total 56236 bytes) removed from the image. ============================================================================== @@ -2478,6 +2603,7 @@ Image Symbol Table ../clib/microlib/longlong.c 0x00000000 Number 0 llshl.o ABSOLUTE ../clib/microlib/longlong.c 0x00000000 Number 0 llushr.o ABSOLUTE ../clib/microlib/longlong.c 0x00000000 Number 0 llsshr.o ABSOLUTE + ../clib/microlib/string/memset.c 0x00000000 Number 0 memseta.o ABSOLUTE ../clib/microlib/stubs.s 0x00000000 Number 0 iusefp.o ABSOLUTE ../fplib/microlib/d2f.c 0x00000000 Number 0 d2f.o ABSOLUTE ../fplib/microlib/f2d.c 0x00000000 Number 0 f2d.o ABSOLUTE @@ -2488,14 +2614,22 @@ Image Symbol Table ../fplib/microlib/fpepilogue.c 0x00000000 Number 0 depilogue.o ABSOLUTE ../fplib/microlib/fpflt.c 0x00000000 Number 0 dfltui.o ABSOLUTE ../fplib/microlib/fpmul.c 0x00000000 Number 0 dmul.o ABSOLUTE + ../mathlib/acosf.c 0x00000000 Number 0 acosf.o ABSOLUTE ../mathlib/asinf.c 0x00000000 Number 0 asinf.o ABSOLUTE ../mathlib/atan2f.c 0x00000000 Number 0 atan2f.o ABSOLUTE + ../mathlib/cosf.c 0x00000000 Number 0 cosf.o ABSOLUTE ../mathlib/fpclassifyf.c 0x00000000 Number 0 fpclassifyf.o ABSOLUTE ../mathlib/funder.c 0x00000000 Number 0 funder.o ABSOLUTE + ../mathlib/rredf.c 0x00000000 Number 0 rredf.o ABSOLUTE + ../mathlib/sinf.c 0x00000000 Number 0 sinf.o ABSOLUTE ../mathlib/sqrtf.c 0x00000000 Number 0 sqrtf.o ABSOLUTE + ../mathlib/tanf.c 0x00000000 Number 0 tanf.o ABSOLUTE + ..\User\AHRS\AHRS.c 0x00000000 Number 0 ahrs.o ABSOLUTE + AHRS_middleware.c 0x00000000 Number 0 ahrs_middleware.o ABSOLUTE BMI088Middleware.c 0x00000000 Number 0 bmi088middleware.o ABSOLUTE BMI088driver.c 0x00000000 Number 0 bmi088driver.o ABSOLUTE MahonyAHRS.c 0x00000000 Number 0 mahonyahrs.o ABSOLUTE + apl_INS.c 0x00000000 Number 0 apl_ins.o ABSOLUTE apl_pid.c 0x00000000 Number 0 apl_pid.o ABSOLUTE bsp_can.c 0x00000000 Number 0 bsp_can.o ABSOLUTE bsp_dbus.c 0x00000000 Number 0 bsp_dbus.o ABSOLUTE @@ -2553,222 +2687,261 @@ Image Symbol Table $v0 0x0800019c Number 0 startup_stm32f407xx.o(.text) .text 0x0800019c Section 36 startup_stm32f407xx.o(.text) .text 0x080001c0 Section 0 uldiv.o(.text) - .text 0x08000222 Section 0 dadd.o(.text) - .text 0x08000370 Section 0 dmul.o(.text) - .text 0x08000454 Section 0 ddiv.o(.text) - .text 0x08000532 Section 0 dcmplt.o(.text) - .text 0x08000568 Section 0 f2d.o(.text) - .text 0x0800058e Section 0 d2f.o(.text) - .text 0x080005c6 Section 0 llshl.o(.text) - .text 0x080005e4 Section 0 llushr.o(.text) - .text 0x08000604 Section 0 llsshr.o(.text) - .text 0x08000628 Section 0 iusefp.o(.text) - .text 0x08000628 Section 0 fepilogue.o(.text) - .text 0x08000696 Section 0 depilogue.o(.text) - .text 0x08000750 Section 36 init.o(.text) - [Anonymous Symbol] 0x08000774 Section 0 bmi088middleware.o(.text.BMI088_ACCEL_NS_H) - [Anonymous Symbol] 0x08000784 Section 0 bmi088middleware.o(.text.BMI088_ACCEL_NS_L) - [Anonymous Symbol] 0x08000794 Section 0 bmi088middleware.o(.text.BMI088_GPIO_init) - [Anonymous Symbol] 0x08000798 Section 0 bmi088middleware.o(.text.BMI088_GYRO_NS_H) - [Anonymous Symbol] 0x080007a8 Section 0 bmi088middleware.o(.text.BMI088_GYRO_NS_L) - [Anonymous Symbol] 0x080007b8 Section 0 bmi088middleware.o(.text.BMI088_com_init) - [Anonymous Symbol] 0x080007bc Section 0 bmi088middleware.o(.text.BMI088_delay_ms) - [Anonymous Symbol] 0x080009a4 Section 0 bmi088middleware.o(.text.BMI088_delay_us) - [Anonymous Symbol] 0x080009f0 Section 0 bmi088driver.o(.text.BMI088_init) - [Anonymous Symbol] 0x08000a08 Section 0 bmi088driver.o(.text.BMI088_read) - [Anonymous Symbol] 0x08000ba8 Section 0 bmi088middleware.o(.text.BMI088_read_write_byte) - [Anonymous Symbol] 0x08000bd8 Section 0 stm32f4xx_it.o(.text.BusFault_Handler) - [Anonymous Symbol] 0x08000bdc Section 0 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) - [Anonymous Symbol] 0x08000be8 Section 0 bsp_can.o(.text.CAN_cmd_chassis) - [Anonymous Symbol] 0x08000c48 Section 0 bsp_can.o(.text.CAN_cmd_gimbal) - [Anonymous Symbol] 0x08000ca8 Section 0 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Data 120 drv_gimbal.o(.bss..L_MergedGlobals) + [Anonymous Symbol] 0x20000140 Section 0 drv_gimbal.o(.bss..L_MergedGlobals) + .L_MergedGlobals.1 0x200001b8 Data 124 apl_ins.o(.bss..L_MergedGlobals.1) + accel_fliter_2.0 0x200001b8 Data 4 apl_ins.o(.bss..L_MergedGlobals.1) + [Anonymous Symbol] 0x200001b8 Section 0 apl_ins.o(.bss..L_MergedGlobals.1) + accel_fliter_2.1 0x200001bc Data 4 apl_ins.o(.bss..L_MergedGlobals.1) + accel_fliter_2.2 0x200001c0 Data 4 apl_ins.o(.bss..L_MergedGlobals.1) + accel_fliter_3 0x200001f4 Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + STACK 0x20000600 Section 1024 startup_stm32f407xx.o(STACK) Global Symbols @@ -2866,231 +3039,253 @@ Image Symbol Table USART6_IRQHandler 0x080001b7 Thumb Code 0 startup_stm32f407xx.o(.text) WWDG_IRQHandler 0x080001b7 Thumb Code 0 startup_stm32f407xx.o(.text) __aeabi_uldivmod 0x080001c1 Thumb Code 98 uldiv.o(.text) - __aeabi_dadd 0x08000223 Thumb Code 322 dadd.o(.text) - __aeabi_dsub 0x08000365 Thumb Code 6 dadd.o(.text) - __aeabi_drsub 0x0800036b Thumb Code 6 dadd.o(.text) - __aeabi_dmul 0x08000371 Thumb Code 228 dmul.o(.text) - __aeabi_ddiv 0x08000455 Thumb Code 222 ddiv.o(.text) - __aeabi_dcmplt 0x08000533 Thumb Code 54 dcmplt.o(.text) - __aeabi_f2d 0x08000569 Thumb Code 38 f2d.o(.text) - __aeabi_d2f 0x0800058f Thumb Code 56 d2f.o(.text) - __aeabi_llsl 0x080005c7 Thumb Code 30 llshl.o(.text) - _ll_shift_l 0x080005c7 Thumb Code 0 llshl.o(.text) - __aeabi_llsr 0x080005e5 Thumb Code 32 llushr.o(.text) - _ll_ushift_r 0x080005e5 Thumb Code 0 llushr.o(.text) - __aeabi_lasr 0x08000605 Thumb Code 36 llsshr.o(.text) - _ll_sshift_r 0x08000605 Thumb Code 0 llsshr.o(.text) - __I$use$fp 0x08000629 Thumb Code 0 iusefp.o(.text) - _float_round 0x08000629 Thumb Code 18 fepilogue.o(.text) - _float_epilogue 0x0800063b Thumb Code 92 fepilogue.o(.text) - _double_round 0x08000697 Thumb Code 30 depilogue.o(.text) - _double_epilogue 0x080006b5 Thumb Code 156 depilogue.o(.text) - __scatterload 0x08000751 Thumb Code 28 init.o(.text) - __scatterload_rt2 0x08000751 Thumb Code 0 init.o(.text) - BMI088_ACCEL_NS_H 0x08000775 Thumb Code 14 bmi088middleware.o(.text.BMI088_ACCEL_NS_H) - BMI088_ACCEL_NS_L 0x08000785 Thumb Code 14 bmi088middleware.o(.text.BMI088_ACCEL_NS_L) - BMI088_GPIO_init 0x08000795 Thumb Code 2 bmi088middleware.o(.text.BMI088_GPIO_init) - BMI088_GYRO_NS_H 0x08000799 Thumb Code 16 bmi088middleware.o(.text.BMI088_GYRO_NS_H) - BMI088_GYRO_NS_L 0x080007a9 Thumb Code 16 bmi088middleware.o(.text.BMI088_GYRO_NS_L) - BMI088_com_init 0x080007b9 Thumb Code 2 bmi088middleware.o(.text.BMI088_com_init) - BMI088_delay_ms 0x080007bd Thumb Code 486 bmi088middleware.o(.text.BMI088_delay_ms) - BMI088_delay_us 0x080009a5 Thumb Code 74 bmi088middleware.o(.text.BMI088_delay_us) - BMI088_init 0x080009f1 Thumb Code 24 bmi088driver.o(.text.BMI088_init) - BMI088_read 0x08000a09 Thumb Code 414 bmi088driver.o(.text.BMI088_read) - BMI088_read_write_byte 0x08000ba9 Thumb Code 46 bmi088middleware.o(.text.BMI088_read_write_byte) - BusFault_Handler 0x08000bd9 Thumb Code 2 stm32f4xx_it.o(.text.BusFault_Handler) - CAN1_RX0_IRQHandler 0x08000bdd Thumb Code 12 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) - CAN_cmd_chassis 0x08000be9 Thumb Code 94 bsp_can.o(.text.CAN_cmd_chassis) - CAN_cmd_gimbal 0x08000c49 Thumb Code 94 bsp_can.o(.text.CAN_cmd_gimbal) - Chassis_RC 0x08000ca9 Thumb Code 92 drv_chassis.o(.text.Chassis_RC) - Chassis_init 0x08000d05 Thumb Code 120 drv_chassis.o(.text.Chassis_init) - Chassis_set_speed 0x08000d7d Thumb Code 360 drv_chassis.o(.text.Chassis_set_speed) - DMA1_Stream1_IRQHandler 0x08000ee5 Thumb Code 12 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - DMA2_Stream2_IRQHandler 0x08000ef1 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - DMA2_Stream3_IRQHandler 0x08000efd Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DebugMon_Handler 0x08000f09 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - EXTI3_IRQHandler 0x08000f0d Thumb Code 6 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - EXTI4_IRQHandler 0x08000f15 Thumb Code 6 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x08000f1d Thumb Code 6 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x08000f25 Thumb Code 2 main.o(.text.Error_Handler) - Gimbal_RC 0x08000f29 Thumb Code 64 drv_gimbal.o(.text.Gimbal_RC) - Gimbal_init 0x08000f69 Thumb Code 144 drv_gimbal.o(.text.Gimbal_init) - Gimbal_set_angle 0x08000ff9 Thumb Code 84 drv_gimbal.o(.text.Gimbal_set_angle) - HAL_CAN_ActivateNotification 0x0800104d Thumb Code 46 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - HAL_CAN_AddTxMessage 0x0800107d Thumb Code 192 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - HAL_CAN_ConfigFilter 0x0800113d Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - HAL_CAN_ErrorCallback 0x0800121d Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetRxMessage 0x08001221 Thumb Code 286 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - HAL_CAN_IRQHandler 0x08001341 Thumb Code 606 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x080015a1 Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08001695 Thumb Code 120 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x0800170d Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08001711 Thumb Code 94 bsp_can.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x08001771 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08001775 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x08001779 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x0800177d Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x080017d9 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x080017dd Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x080017e1 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x080017e5 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x080017e9 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x080017ed Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x080017f1 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_IRQHandler 0x080017f5 Thumb Code 448 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x080019b5 Thumb Code 354 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08001b19 Thumb Code 158 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08001bb9 Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08001be1 Thumb Code 20 main.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x08001bf5 Thumb Code 22 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08001c0d Thumb Code 434 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_WritePin 0x08001dc1 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08001dcd Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_Init 0x08001dd9 Thumb Code 374 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_Mem_Read 0x08001f51 Thumb Code 878 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read) - HAL_I2C_Mem_Write 0x080022c1 Thumb Code 474 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Write) - HAL_I2C_MspInit 0x0800249d Thumb Code 180 i2c.o(.text.HAL_I2C_MspInit) - HAL_IncTick 0x08002551 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x0800256d Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x080025a5 Thumb Code 72 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x080025ed Thumb Code 66 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_EnableIRQ 0x08002631 Thumb Code 38 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08002659 Thumb Code 86 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x080026b1 Thumb Code 32 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x080026d1 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetPCLK1Freq 0x08002831 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08002859 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08002881 Thumb Code 106 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x080028ed Thumb Code 868 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_Init 0x08002c51 Thumb Code 116 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x08002cc5 Thumb Code 290 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_TransmitReceive 0x08002de9 Thumb Code 664 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SYSTICK_Config 0x08003081 Thumb Code 44 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x080030ad Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x080030b1 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x080030b5 Thumb Code 182 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x0800316d Thumb Code 54 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x080031a5 Thumb Code 118 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_Base_Start_IT 0x0800321d Thumb Code 32 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Start_IT) - HAL_TIM_ConfigClockSource 0x0800323d Thumb Code 402 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource) - HAL_TIM_IC_CaptureCallback 0x080033d1 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x080033d5 Thumb Code 368 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_OC_DelayElapsedCallback 0x08003545 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x08003549 Thumb Code 540 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x08003765 Thumb Code 54 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x0800379d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x080037a1 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PeriodElapsedCallback 0x080037a5 Thumb Code 328 main.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x080038ed Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UART_ErrorCallback 0x080038f1 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_Init 0x080038f5 Thumb Code 94 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x08003955 Thumb Code 192 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x08003a15 Thumb Code 162 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_RxCpltCallback 0x08003ab9 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x08003abd Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UART_RxHalfCpltCallback) - HardFault_Handler 0x08003ac1 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) - MX_CAN1_Init 0x08004309 Thumb Code 64 can.o(.text.MX_CAN1_Init) - MX_DMA_Init 0x08004349 Thumb Code 108 dma.o(.text.MX_DMA_Init) - MX_GPIO_Init 0x080043b5 Thumb Code 360 gpio.o(.text.MX_GPIO_Init) - MX_I2C3_Init 0x0800451d Thumb Code 66 i2c.o(.text.MX_I2C3_Init) - MX_SPI1_Init 0x08004561 Thumb Code 82 spi.o(.text.MX_SPI1_Init) - MX_TIM10_Init 0x080045b5 Thumb Code 190 tim.o(.text.MX_TIM10_Init) - MX_TIM3_Init 0x08004675 Thumb Code 116 tim.o(.text.MX_TIM3_Init) - MX_USART3_UART_Init 0x080046e9 Thumb Code 70 usart.o(.text.MX_USART3_UART_Init) - MahonyAHRSupdate 0x08004731 Thumb Code 956 mahonyahrs.o(.text.MahonyAHRSupdate) - MahonyAHRSupdateIMU 0x08004aed Thumb Code 620 mahonyahrs.o(.text.MahonyAHRSupdateIMU) - MemManage_Handler 0x08004d59 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x08004d5d Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) - PID_angle_output 0x08004d61 Thumb Code 388 apl_pid.o(.text.PID_angle_output) - PID_init_angle 0x08004ee5 Thumb Code 34 apl_pid.o(.text.PID_init_angle) - PID_init_speed 0x08004f09 Thumb Code 52 apl_pid.o(.text.PID_init_speed) - PID_speed_output 0x08004f3d Thumb Code 166 apl_pid.o(.text.PID_speed_output) - PendSV_Handler 0x08004fe5 Thumb Code 2 stm32f4xx_it.o(.text.PendSV_Handler) - SVC_Handler 0x08005109 Thumb Code 2 stm32f4xx_it.o(.text.SVC_Handler) - SysTick_Handler 0x0800510d Thumb Code 4 stm32f4xx_it.o(.text.SysTick_Handler) - SystemInit 0x08005111 Thumb Code 26 system_stm32f4xx.o(.text.SystemInit) - TIM3_IRQHandler 0x0800512d Thumb Code 12 stm32f4xx_it.o(.text.TIM3_IRQHandler) - TIM_Base_SetConfig 0x08005139 Thumb Code 316 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - USART3_IDLE_IQR 0x0800541d Thumb Code 168 bsp_dbus.o(.text.USART3_IDLE_IQR) - USART3_IRQHandler 0x080054c5 Thumb Code 4 stm32f4xx_it.o(.text.USART3_IRQHandler) - UsageFault_Handler 0x080054c9 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) - bmi088_accel_init 0x080054cd Thumb Code 592 bmi088driver.o(.text.bmi088_accel_init) - bmi088_gyro_init 0x0800571d Thumb Code 530 bmi088driver.o(.text.bmi088_gyro_init) - can_filter_init 0x08005931 Thumb Code 60 bsp_can.o(.text.can_filter_init) - controller_init 0x0800596d Thumb Code 48 bsp_dbus.o(.text.controller_init) - ist8310_GPIO_init 0x0800599d Thumb Code 2 ist8310driver_middleware.o(.text.ist8310_GPIO_init) - ist8310_IIC_read_muli_reg 0x080059a1 Thumb Code 40 ist8310driver_middleware.o(.text.ist8310_IIC_read_muli_reg) - ist8310_IIC_read_single_reg 0x080059c9 Thumb Code 54 ist8310driver_middleware.o(.text.ist8310_IIC_read_single_reg) - ist8310_IIC_write_single_reg 0x08005a01 Thumb Code 48 ist8310driver_middleware.o(.text.ist8310_IIC_write_single_reg) - ist8310_RST_H 0x08005a31 Thumb Code 16 ist8310driver_middleware.o(.text.ist8310_RST_H) - ist8310_RST_L 0x08005a41 Thumb Code 16 ist8310driver_middleware.o(.text.ist8310_RST_L) - ist8310_com_init 0x08005a51 Thumb Code 2 ist8310driver_middleware.o(.text.ist8310_com_init) - ist8310_delay_ms 0x08005a55 Thumb Code 4 ist8310driver_middleware.o(.text.ist8310_delay_ms) - ist8310_delay_us 0x08005a59 Thumb Code 74 ist8310driver_middleware.o(.text.ist8310_delay_us) - ist8310_init 0x08005aa5 Thumb Code 204 ist8310driver.o(.text.ist8310_init) - ist8310_read_mag 0x08005b7d Thumb Code 92 ist8310driver.o(.text.ist8310_read_mag) - main 0x08005bd9 Thumb Code 450 main.o(.text.main) - __ARM_fpclassifyf 0x08005d9b Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_asinf 0x08005dc1 Thumb Code 258 asinf.o(i.__hardfp_asinf) - __hardfp_atan2f 0x08005eed Thumb Code 594 atan2f.o(i.__hardfp_atan2f) - __mathlib_flt_infnan 0x08006199 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_infnan2 0x0800619f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) - __mathlib_flt_invalid 0x080061a5 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x080061b5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __scatterload_copy 0x080061c5 Thumb Code 14 handlers.o(i.__scatterload_copy) - __scatterload_null 0x080061d3 Thumb Code 2 handlers.o(i.__scatterload_null) - __scatterload_zeroinit 0x080061d5 Thumb Code 14 handlers.o(i.__scatterload_zeroinit) - __set_errno 0x080061e5 Thumb Code 6 errno.o(i.__set_errno) - sqrtf 0x080061f1 Thumb Code 62 sqrtf.o(i.sqrtf) - AHBPrescTable 0x0800622e Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x0800623e Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - Region$$Table$$Base 0x08006274 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08006294 Number 0 anon$$obj.o(Region$$Table) - uwTickFreq 0x20000004 Data 1 stm32f4xx_hal.o(.data..L_MergedGlobals) - uwTickPrio 0x20000008 Data 4 stm32f4xx_hal.o(.data..L_MergedGlobals) - BMI088_ACCEL_SEN 0x2000000c Data 4 bmi088driver.o(.data..L_MergedGlobals) - BMI088_GYRO_SEN 0x20000010 Data 4 bmi088driver.o(.data..L_MergedGlobals) - INS_quat 0x20000014 Data 16 main.o(.data.INS_quat) - SystemCoreClock 0x20000024 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) - twoKp 0x20000028 Data 4 mahonyahrs.o(.data.twoKp) - x 0x2000002c Data 4 main.o(.data.x) - temp 0x20000030 Data 4 main.o(.bss..L_MergedGlobals) - INS_angle 0x20000034 Data 12 main.o(.bss..L_MergedGlobals) - mag 0x20000040 Data 12 main.o(.bss..L_MergedGlobals) - gyro 0x2000004c Data 12 main.o(.bss..L_MergedGlobals) - accel 0x20000058 Data 12 main.o(.bss..L_MergedGlobals) - twoKi 0x20000064 Data 4 mahonyahrs.o(.bss..L_MergedGlobals) - integralFBx 0x20000068 Data 4 mahonyahrs.o(.bss..L_MergedGlobals) - integralFBy 0x2000006c Data 4 mahonyahrs.o(.bss..L_MergedGlobals) - integralFBz 0x20000070 Data 4 mahonyahrs.o(.bss..L_MergedGlobals) - rx_buf 0x20000094 Data 18 bsp_dbus.o(.bss..L_MergedGlobals) - rc_ctl 0x200000a6 Data 24 bsp_dbus.o(.bss..L_MergedGlobals) - vx 0x200000c0 Data 4 drv_chassis.o(.bss..L_MergedGlobals) - vy 0x200000c4 Data 4 drv_chassis.o(.bss..L_MergedGlobals) - vw 0x200000c8 Data 4 drv_chassis.o(.bss..L_MergedGlobals) - motor_input 0x200000d0 Data 8 drv_chassis.o(.bss..L_MergedGlobals) - motor_speed 0x200000d8 Data 16 drv_chassis.o(.bss..L_MergedGlobals) - motor_angle_input 0x200000e8 Data 4 drv_gimbal.o(.bss..L_MergedGlobals) - angle_yaw 0x200000ec Data 4 drv_gimbal.o(.bss..L_MergedGlobals) - angle_pitch 0x200000f0 Data 4 drv_gimbal.o(.bss..L_MergedGlobals) - gimbal_yaw 0x200000f4 Data 36 drv_gimbal.o(.bss..L_MergedGlobals) - gimbal_pitch 0x20000118 Data 36 drv_gimbal.o(.bss..L_MergedGlobals) - gimbal_yaw_speed 0x2000013c Data 36 drv_gimbal.o(.bss..L_MergedGlobals) - a 0x20000160 Data 4 main.o(.bss.a) - gimbal_pitch_speed 0x20000164 Data 36 drv_gimbal.o(.bss.gimbal_pitch_speed) - hcan1 0x20000188 Data 40 can.o(.bss.hcan1) - hdma_spi1_rx 0x200001b0 Data 96 spi.o(.bss.hdma_spi1_rx) - hdma_spi1_tx 0x20000210 Data 96 spi.o(.bss.hdma_spi1_tx) - hdma_usart3_rx 0x20000270 Data 96 usart.o(.bss.hdma_usart3_rx) - hi2c3 0x200002d0 Data 84 i2c.o(.bss.hi2c3) - hspi1 0x20000324 Data 88 spi.o(.bss.hspi1) - htim10 0x2000037c Data 64 tim.o(.bss.htim10) - htim3 0x200003bc Data 64 tim.o(.bss.htim3) - huart3 0x200003fc Data 64 usart.o(.bss.huart3) - motor_data 0x2000043c Data 60 bsp_can.o(.bss.motor_data) - uwTick 0x20000478 Data 4 stm32f4xx_hal.o(.bss.uwTick) - wheel 0x2000047c Data 144 drv_chassis.o(.bss.wheel) - __initial_sp 0x20000910 Data 0 startup_stm32f407xx.o(STACK) + __aeabi_memset 0x08000223 Thumb Code 14 memseta.o(.text) + __aeabi_memset4 0x08000223 Thumb Code 0 memseta.o(.text) + __aeabi_memset8 0x08000223 Thumb Code 0 memseta.o(.text) + __aeabi_memclr 0x08000231 Thumb Code 4 memseta.o(.text) + __aeabi_memclr4 0x08000231 Thumb Code 0 memseta.o(.text) + __aeabi_memclr8 0x08000231 Thumb Code 0 memseta.o(.text) + _memset$wrapper 0x08000235 Thumb Code 18 memseta.o(.text) + __aeabi_dadd 0x08000247 Thumb Code 322 dadd.o(.text) + __aeabi_dsub 0x08000389 Thumb Code 6 dadd.o(.text) + __aeabi_drsub 0x0800038f Thumb Code 6 dadd.o(.text) + __aeabi_dmul 0x08000395 Thumb Code 228 dmul.o(.text) + __aeabi_ddiv 0x08000479 Thumb Code 222 ddiv.o(.text) + __aeabi_dcmplt 0x08000557 Thumb Code 54 dcmplt.o(.text) + __aeabi_ui2d 0x0800058d Thumb Code 26 dfltui.o(.text) + __aeabi_f2d 0x080005a7 Thumb Code 38 f2d.o(.text) + __aeabi_d2f 0x080005cd Thumb Code 56 d2f.o(.text) + __aeabi_llsl 0x08000605 Thumb Code 30 llshl.o(.text) + _ll_shift_l 0x08000605 Thumb Code 0 llshl.o(.text) + __aeabi_llsr 0x08000623 Thumb Code 32 llushr.o(.text) + _ll_ushift_r 0x08000623 Thumb Code 0 llushr.o(.text) + __aeabi_lasr 0x08000643 Thumb Code 36 llsshr.o(.text) + _ll_sshift_r 0x08000643 Thumb Code 0 llsshr.o(.text) + __I$use$fp 0x08000667 Thumb Code 0 iusefp.o(.text) + _float_round 0x08000667 Thumb Code 18 fepilogue.o(.text) + _float_epilogue 0x08000679 Thumb Code 92 fepilogue.o(.text) + _double_round 0x080006d5 Thumb Code 30 depilogue.o(.text) + _double_epilogue 0x080006f3 Thumb Code 156 depilogue.o(.text) + __scatterload 0x08000791 Thumb Code 28 init.o(.text) + __scatterload_rt2 0x08000791 Thumb Code 0 init.o(.text) + AHRS_asinf 0x080007b5 Thumb Code 4 ahrs_middleware.o(.text.AHRS_asinf) + AHRS_atan2f 0x080007b9 Thumb Code 4 ahrs_middleware.o(.text.AHRS_atan2f) + AHRS_cosf 0x080007bd Thumb Code 4 ahrs_middleware.o(.text.AHRS_cosf) + AHRS_get_height 0x080007c1 Thumb Code 10 ahrs_middleware.o(.text.AHRS_get_height) + AHRS_get_latitude 0x080007cd Thumb Code 14 ahrs_middleware.o(.text.AHRS_get_latitude) + AHRS_invSqrt 0x080007dd Thumb Code 14 ahrs_middleware.o(.text.AHRS_invSqrt) + AHRS_sinf 0x080007ed Thumb Code 4 ahrs_middleware.o(.text.AHRS_sinf) + BMI088_ACCEL_NS_H 0x080007f1 Thumb Code 14 bmi088middleware.o(.text.BMI088_ACCEL_NS_H) + BMI088_ACCEL_NS_L 0x08000801 Thumb Code 14 bmi088middleware.o(.text.BMI088_ACCEL_NS_L) + BMI088_GPIO_init 0x08000811 Thumb Code 2 bmi088middleware.o(.text.BMI088_GPIO_init) + BMI088_GYRO_NS_H 0x08000815 Thumb Code 16 bmi088middleware.o(.text.BMI088_GYRO_NS_H) + BMI088_GYRO_NS_L 0x08000825 Thumb Code 16 bmi088middleware.o(.text.BMI088_GYRO_NS_L) + BMI088_com_init 0x08000835 Thumb Code 2 bmi088middleware.o(.text.BMI088_com_init) + BMI088_delay_ms 0x08000839 Thumb Code 486 bmi088middleware.o(.text.BMI088_delay_ms) + BMI088_delay_us 0x08000a21 Thumb Code 74 bmi088middleware.o(.text.BMI088_delay_us) + BMI088_init 0x08000a6d Thumb Code 24 bmi088driver.o(.text.BMI088_init) + BMI088_read 0x08000a85 Thumb Code 414 bmi088driver.o(.text.BMI088_read) + BMI088_read_write_byte 0x08000c25 Thumb Code 46 bmi088middleware.o(.text.BMI088_read_write_byte) + BusFault_Handler 0x08000c55 Thumb Code 2 stm32f4xx_it.o(.text.BusFault_Handler) + CAN1_RX0_IRQHandler 0x08000c59 Thumb Code 12 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) + CAN_cmd_chassis 0x08000c65 Thumb Code 94 bsp_can.o(.text.CAN_cmd_chassis) + CAN_cmd_gimbal 0x08000cc5 Thumb Code 94 bsp_can.o(.text.CAN_cmd_gimbal) + Chassis_RC 0x08000d25 Thumb Code 92 drv_chassis.o(.text.Chassis_RC) + Chassis_init 0x08000d81 Thumb Code 136 drv_chassis.o(.text.Chassis_init) + Chassis_set_speed 0x08000e09 Thumb Code 364 drv_chassis.o(.text.Chassis_set_speed) + DMA1_Stream1_IRQHandler 0x08000f75 Thumb Code 12 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA2_Stream2_IRQHandler 0x08000f81 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x08000f8d Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DebugMon_Handler 0x08000f99 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + EXTI3_IRQHandler 0x08000f9d Thumb Code 6 stm32f4xx_it.o(.text.EXTI3_IRQHandler) + EXTI4_IRQHandler 0x08000fa5 Thumb Code 6 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x08000fad Thumb Code 6 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x08000fb5 Thumb Code 2 main.o(.text.Error_Handler) + Gimbal_RC 0x08000fb9 Thumb Code 176 drv_gimbal.o(.text.Gimbal_RC) + Gimbal_init 0x08001069 Thumb Code 168 drv_gimbal.o(.text.Gimbal_init) + Gimbal_set_angle 0x08001111 Thumb Code 84 drv_gimbal.o(.text.Gimbal_set_angle) + HAL_CAN_ActivateNotification 0x08001165 Thumb Code 46 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x08001195 Thumb Code 192 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x08001255 Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x08001335 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxMessage 0x08001339 Thumb Code 286 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_IRQHandler 0x08001459 Thumb Code 606 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x080016b9 Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x080017ad Thumb Code 120 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x08001825 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x08001829 Thumb Code 94 bsp_can.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x08001889 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x0800188d Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x08001891 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08001895 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x080018f1 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x080018f5 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x080018f9 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x080018fd Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08001901 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08001905 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08001909 Thumb Code 2 stm32f4xx_hal_can.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_IRQHandler 0x0800190d Thumb Code 448 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08001acd Thumb Code 354 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08001c31 Thumb Code 158 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08001cd1 Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08001cf9 Thumb Code 2 main.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08001cfd Thumb Code 22 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08001d15 Thumb Code 434 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_WritePin 0x08001ec9 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08001ed5 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_Init 0x08001ee1 Thumb Code 374 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_Mem_Read 0x08002059 Thumb Code 878 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read) + HAL_I2C_Mem_Write 0x080023c9 Thumb Code 474 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Mem_Write) + HAL_I2C_MspInit 0x080025a5 Thumb Code 180 i2c.o(.text.HAL_I2C_MspInit) + HAL_IncTick 0x08002659 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x08002675 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x080026ad Thumb Code 72 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x080026f5 Thumb Code 66 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_EnableIRQ 0x08002739 Thumb Code 38 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x08002761 Thumb Code 86 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x080027b9 Thumb Code 32 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x080027d9 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetPCLK1Freq 0x08002939 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x08002961 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x08002989 Thumb Code 106 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080029f5 Thumb Code 868 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_Init 0x08002d59 Thumb Code 116 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x08002dcd Thumb Code 290 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_TransmitReceive 0x08002ef1 Thumb Code 664 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SYSTICK_Config 0x08003189 Thumb Code 44 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x080031b5 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x080031b9 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x080031bd Thumb Code 182 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08003275 Thumb Code 54 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x080032ad Thumb Code 118 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_Base_Start_IT 0x08003325 Thumb Code 32 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Start_IT) + HAL_TIM_ConfigClockSource 0x08003345 Thumb Code 402 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource) + HAL_TIM_IC_CaptureCallback 0x080034d9 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x080034dd Thumb Code 368 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_OC_DelayElapsedCallback 0x0800364d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x08003651 Thumb Code 540 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x0800386d Thumb Code 54 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x080038a5 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x080038a9 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PeriodElapsedCallback 0x080038ad Thumb Code 108 main.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08003919 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UART_ErrorCallback 0x0800391d Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_Init 0x08003921 Thumb Code 94 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x08003981 Thumb Code 192 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x08003a41 Thumb Code 162 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_RxCpltCallback 0x08003ae5 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x08003ae9 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UART_RxHalfCpltCallback) + HardFault_Handler 0x08003aed Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) + INS_get_data 0x08004335 Thumb Code 236 apl_ins.o(.text.INS_get_data) + INS_init 0x08004421 Thumb Code 250 apl_ins.o(.text.INS_init) + MX_CAN1_Init 0x0800451d Thumb Code 64 can.o(.text.MX_CAN1_Init) + MX_DMA_Init 0x0800455d Thumb Code 108 dma.o(.text.MX_DMA_Init) + MX_GPIO_Init 0x080045c9 Thumb Code 360 gpio.o(.text.MX_GPIO_Init) + MX_I2C3_Init 0x08004731 Thumb Code 66 i2c.o(.text.MX_I2C3_Init) + MX_SPI1_Init 0x08004775 Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_TIM10_Init 0x080047c9 Thumb Code 190 tim.o(.text.MX_TIM10_Init) + MX_TIM3_Init 0x08004889 Thumb Code 116 tim.o(.text.MX_TIM3_Init) + MX_USART3_UART_Init 0x080048fd Thumb Code 70 usart.o(.text.MX_USART3_UART_Init) + MemManage_Handler 0x08004945 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x08004949 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) + PID_angle_output 0x08004951 Thumb Code 388 apl_pid.o(.text.PID_angle_output) + PID_init_angle 0x08004ad5 Thumb Code 36 apl_pid.o(.text.PID_init_angle) + PID_init_speed 0x08004af9 Thumb Code 38 apl_pid.o(.text.PID_init_speed) + PID_speed_output 0x08004b21 Thumb Code 240 apl_pid.o(.text.PID_speed_output) + PendSV_Handler 0x08004c11 Thumb Code 2 stm32f4xx_it.o(.text.PendSV_Handler) + SVC_Handler 0x08004d35 Thumb Code 2 stm32f4xx_it.o(.text.SVC_Handler) + SysTick_Handler 0x08004d39 Thumb Code 4 stm32f4xx_it.o(.text.SysTick_Handler) + SystemInit 0x08004d3d Thumb Code 26 system_stm32f4xx.o(.text.SystemInit) + TIM3_IRQHandler 0x08004d59 Thumb Code 12 stm32f4xx_it.o(.text.TIM3_IRQHandler) + TIM_Base_SetConfig 0x08004d65 Thumb Code 316 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + USART3_IDLE_IQR 0x08005049 Thumb Code 168 bsp_dbus.o(.text.USART3_IDLE_IQR) + USART3_IRQHandler 0x080050f1 Thumb Code 4 stm32f4xx_it.o(.text.USART3_IRQHandler) + UsageFault_Handler 0x080050f5 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + bmi088_accel_init 0x080050f9 Thumb Code 592 bmi088driver.o(.text.bmi088_accel_init) + bmi088_gyro_init 0x08005349 Thumb Code 530 bmi088driver.o(.text.bmi088_gyro_init) + can_filter_init 0x0800555d Thumb Code 60 bsp_can.o(.text.can_filter_init) + controller_init 0x08005599 Thumb Code 48 bsp_dbus.o(.text.controller_init) + ist8310_GPIO_init 0x08005795 Thumb Code 2 ist8310driver_middleware.o(.text.ist8310_GPIO_init) + ist8310_IIC_read_single_reg 0x08005799 Thumb Code 54 ist8310driver_middleware.o(.text.ist8310_IIC_read_single_reg) + ist8310_IIC_write_single_reg 0x080057d1 Thumb Code 48 ist8310driver_middleware.o(.text.ist8310_IIC_write_single_reg) + ist8310_RST_H 0x08005801 Thumb Code 16 ist8310driver_middleware.o(.text.ist8310_RST_H) + ist8310_RST_L 0x08005811 Thumb Code 16 ist8310driver_middleware.o(.text.ist8310_RST_L) + ist8310_com_init 0x08005821 Thumb Code 2 ist8310driver_middleware.o(.text.ist8310_com_init) + ist8310_delay_ms 0x08005825 Thumb Code 4 ist8310driver_middleware.o(.text.ist8310_delay_ms) + ist8310_delay_us 0x08005829 Thumb Code 74 ist8310driver_middleware.o(.text.ist8310_delay_us) + ist8310_init 0x08005875 Thumb Code 204 ist8310driver.o(.text.ist8310_init) + main 0x0800594d Thumb Code 214 main.o(.text.main) + AHRS_init 0x08005a3d Thumb Code 626 ahrs.o(i.AHRS_init) + AHRS_update 0x08005cd9 Thumb Code 314 ahrs.o(i.AHRS_update) + __ARM_fpclassifyf 0x08005e13 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x08005e39 Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan2f 0x08005f65 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_cosf 0x08006211 Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_sinf 0x08006361 Thumb Code 344 sinf.o(i.__hardfp_sinf) + __mathlib_flt_infnan 0x080064f1 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x080064f7 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x080064fd Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x0800650d Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x0800651d Thumb Code 316 rredf.o(i.__mathlib_rredf2) + __scatterload_copy 0x08006671 Thumb Code 14 handlers.o(i.__scatterload_copy) + __scatterload_null 0x0800667f Thumb Code 2 handlers.o(i.__scatterload_null) + __scatterload_zeroinit 0x08006681 Thumb Code 14 handlers.o(i.__scatterload_zeroinit) + __set_errno 0x08006691 Thumb Code 6 errno.o(i.__set_errno) + get_angle 0x08006b65 Thumb Code 232 ahrs.o(i.get_angle) + sqrtf 0x08006cd1 Thumb Code 62 sqrtf.o(i.sqrtf) + AHBPrescTable 0x08006db4 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08006dc4 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + Region$$Table$$Base 0x08006df8 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08006e18 Number 0 anon$$obj.o(Region$$Table) + uwTickFreq 0x20000014 Data 1 stm32f4xx_hal.o(.data..L_MergedGlobals) + uwTickPrio 0x20000018 Data 4 stm32f4xx_hal.o(.data..L_MergedGlobals) + BMI088_ACCEL_SEN 0x2000001c Data 4 bmi088driver.o(.data..L_MergedGlobals) + BMI088_GYRO_SEN 0x20000020 Data 4 bmi088driver.o(.data..L_MergedGlobals) + gyro_scale_factor 0x20000024 Data 36 apl_ins.o(.data..L_MergedGlobals) + accel_scale_factor 0x20000048 Data 36 apl_ins.o(.data..L_MergedGlobals) + mag_scale_factor 0x2000006c Data 36 apl_ins.o(.data..L_MergedGlobals) + INS_quat 0x20000090 Data 16 apl_ins.o(.data.INS_quat) + SystemCoreClock 0x200000a0 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) + k_angle_gimbal 0x200000a4 Data 12 apl_pid.o(.data.k_angle_gimbal) + k_speed_chassis 0x200000b0 Data 12 apl_pid.o(.data.k_speed_chassis) + k_speed_gimbal 0x200000bc Data 12 apl_pid.o(.data.k_speed_gimbal) + rx_buf 0x200000e8 Data 18 bsp_dbus.o(.bss..L_MergedGlobals) + rc_ctl 0x200000fa Data 24 bsp_dbus.o(.bss..L_MergedGlobals) + vx 0x20000118 Data 4 drv_chassis.o(.bss..L_MergedGlobals) + vy 0x2000011c Data 4 drv_chassis.o(.bss..L_MergedGlobals) + vw 0x20000120 Data 4 drv_chassis.o(.bss..L_MergedGlobals) + motor_input 0x20000128 Data 8 drv_chassis.o(.bss..L_MergedGlobals) + motor_speed 0x20000130 Data 16 drv_chassis.o(.bss..L_MergedGlobals) + motor_angle_input 0x20000140 Data 4 drv_gimbal.o(.bss..L_MergedGlobals) + angle_yaw 0x20000144 Data 4 drv_gimbal.o(.bss..L_MergedGlobals) + angle_pitch 0x20000148 Data 4 drv_gimbal.o(.bss..L_MergedGlobals) + gimbal_yaw 0x2000014c Data 36 drv_gimbal.o(.bss..L_MergedGlobals) + gimbal_pitch 0x20000170 Data 36 drv_gimbal.o(.bss..L_MergedGlobals) + gimbal_yaw_speed 0x20000194 Data 36 drv_gimbal.o(.bss..L_MergedGlobals) + INS_gyro 0x200001c4 Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + INS_accel 0x200001d0 Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + INS_angle 0x200001dc Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + INS_mag 0x200001e8 Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + gyro_offset 0x20000200 Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + accel_offset 0x2000020c Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + mag_offset 0x20000218 Data 12 apl_ins.o(.bss..L_MergedGlobals.1) + ist8310_real_data 0x20000224 Data 16 apl_ins.o(.bss..L_MergedGlobals.1) + bmi088_real_data 0x20000234 Data 36 apl_ins.o(.bss.bmi088_real_data) + gimbal_pitch_speed 0x20000258 Data 36 drv_gimbal.o(.bss.gimbal_pitch_speed) + hcan1 0x2000027c Data 40 can.o(.bss.hcan1) + hdma_spi1_rx 0x200002a4 Data 96 spi.o(.bss.hdma_spi1_rx) + hdma_spi1_tx 0x20000304 Data 96 spi.o(.bss.hdma_spi1_tx) + hdma_usart3_rx 0x20000364 Data 96 usart.o(.bss.hdma_usart3_rx) + hi2c3 0x200003c4 Data 84 i2c.o(.bss.hi2c3) + hspi1 0x20000418 Data 88 spi.o(.bss.hspi1) + htim10 0x20000470 Data 64 tim.o(.bss.htim10) + htim3 0x200004b0 Data 64 tim.o(.bss.htim3) + huart3 0x200004f0 Data 64 usart.o(.bss.huart3) + motor_data 0x20000530 Data 60 bsp_can.o(.bss.motor_data) + uwTick 0x2000056c Data 4 stm32f4xx_hal.o(.bss.uwTick) + wheel 0x20000570 Data 144 drv_chassis.o(.bss.wheel) + __initial_sp 0x20000a00 Data 0 startup_stm32f407xx.o(STACK) @@ -3100,342 +3295,370 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000062c8, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00006ee0, Max: 0x00100000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00006294, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00006e18, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o - 0x08000188 0x08000188 0x00000000 Code RO 1539 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) - 0x08000188 0x08000188 0x00000004 Code RO 1580 .ARM.Collect$$$$00000001 mc_w.l(entry2.o) - 0x0800018c 0x0800018c 0x00000004 Code RO 1583 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) - 0x08000190 0x08000190 0x00000000 Code RO 1585 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) - 0x08000190 0x08000190 0x00000000 Code RO 1587 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) - 0x08000190 0x08000190 0x00000008 Code RO 1588 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) - 0x08000198 0x08000198 0x00000000 Code RO 1590 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) - 0x08000198 0x08000198 0x00000000 Code RO 1592 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) - 0x08000198 0x08000198 0x00000004 Code RO 1581 .ARM.Collect$$$$00002712 mc_w.l(entry2.o) + 0x08000188 0x08000188 0x00000000 Code RO 1696 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) + 0x08000188 0x08000188 0x00000004 Code RO 1742 .ARM.Collect$$$$00000001 mc_w.l(entry2.o) + 0x0800018c 0x0800018c 0x00000004 Code RO 1745 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) + 0x08000190 0x08000190 0x00000000 Code RO 1747 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) + 0x08000190 0x08000190 0x00000000 Code RO 1749 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) + 0x08000190 0x08000190 0x00000008 Code RO 1750 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) + 0x08000198 0x08000198 0x00000000 Code RO 1752 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) + 0x08000198 0x08000198 0x00000000 Code RO 1754 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) + 0x08000198 0x08000198 0x00000004 Code RO 1743 .ARM.Collect$$$$00002712 mc_w.l(entry2.o) 0x0800019c 0x0800019c 0x00000024 Code RO 4 .text startup_stm32f407xx.o - 0x080001c0 0x080001c0 0x00000062 Code RO 1542 .text mc_w.l(uldiv.o) - 0x08000222 0x08000222 0x0000014e Code RO 1544 .text mf_w.l(dadd.o) - 0x08000370 0x08000370 0x000000e4 Code RO 1546 .text mf_w.l(dmul.o) - 0x08000454 0x08000454 0x000000de Code RO 1548 .text mf_w.l(ddiv.o) - 0x08000532 0x08000532 0x00000036 Code RO 1550 .text mf_w.l(dcmplt.o) - 0x08000568 0x08000568 0x00000026 Code RO 1554 .text mf_w.l(f2d.o) - 0x0800058e 0x0800058e 0x00000038 Code RO 1556 .text mf_w.l(d2f.o) - 0x080005c6 0x080005c6 0x0000001e Code RO 1594 .text mc_w.l(llshl.o) - 0x080005e4 0x080005e4 0x00000020 Code RO 1596 .text mc_w.l(llushr.o) - 0x08000604 0x08000604 0x00000024 Code RO 1598 .text mc_w.l(llsshr.o) - 0x08000628 0x08000628 0x00000000 Code RO 1607 .text mc_w.l(iusefp.o) - 0x08000628 0x08000628 0x0000006e Code RO 1608 .text mf_w.l(fepilogue.o) - 0x08000696 0x08000696 0x000000ba Code RO 1610 .text mf_w.l(depilogue.o) - 0x08000750 0x08000750 0x00000024 Code RO 1612 .text mc_w.l(init.o) - 0x08000774 0x08000774 0x0000000e Code RO 1350 .text.BMI088_ACCEL_NS_H bmi088middleware.o - 0x08000782 0x08000782 0x00000002 PAD - 0x08000784 0x08000784 0x0000000e Code RO 1348 .text.BMI088_ACCEL_NS_L bmi088middleware.o - 0x08000792 0x08000792 0x00000002 PAD - 0x08000794 0x08000794 0x00000002 Code RO 1340 .text.BMI088_GPIO_init bmi088middleware.o - 0x08000796 0x08000796 0x00000002 PAD - 0x08000798 0x08000798 0x00000010 Code RO 1354 .text.BMI088_GYRO_NS_H bmi088middleware.o - 0x080007a8 0x080007a8 0x00000010 Code RO 1352 .text.BMI088_GYRO_NS_L bmi088middleware.o - 0x080007b8 0x080007b8 0x00000002 Code RO 1342 .text.BMI088_com_init bmi088middleware.o - 0x080007ba 0x080007ba 0x00000002 PAD - 0x080007bc 0x080007bc 0x000001e6 Code RO 1344 .text.BMI088_delay_ms bmi088middleware.o - 0x080009a2 0x080009a2 0x00000002 PAD - 0x080009a4 0x080009a4 0x0000004a Code RO 1346 .text.BMI088_delay_us bmi088middleware.o - 0x080009ee 0x080009ee 0x00000002 PAD - 0x080009f0 0x080009f0 0x00000018 Code RO 1321 .text.BMI088_init bmi088driver.o - 0x08000a08 0x08000a08 0x0000019e Code RO 1327 .text.BMI088_read bmi088driver.o - 0x08000ba6 0x08000ba6 0x00000002 PAD - 0x08000ba8 0x08000ba8 0x0000002e Code RO 1356 .text.BMI088_read_write_byte bmi088middleware.o - 0x08000bd6 0x08000bd6 0x00000002 PAD - 0x08000bd8 0x08000bd8 0x00000002 Code RO 144 .text.BusFault_Handler stm32f4xx_it.o - 0x08000bda 0x08000bda 0x00000002 PAD - 0x08000bdc 0x08000bdc 0x0000000c Code RO 162 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o - 0x08000be8 0x08000be8 0x0000005e Code RO 1441 .text.CAN_cmd_chassis bsp_can.o - 0x08000c46 0x08000c46 0x00000002 PAD - 0x08000c48 0x08000c48 0x0000005e Code RO 1443 .text.CAN_cmd_gimbal bsp_can.o - 0x08000ca6 0x08000ca6 0x00000002 PAD - 0x08000ca8 0x08000ca8 0x0000005c Code RO 1476 .text.Chassis_RC drv_chassis.o - 0x08000d04 0x08000d04 0x00000078 Code RO 1474 .text.Chassis_init drv_chassis.o - 0x08000d7c 0x08000d7c 0x00000168 Code RO 1478 .text.Chassis_set_speed drv_chassis.o - 0x08000ee4 0x08000ee4 0x0000000c Code RO 160 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x08000ef0 0x08000ef0 0x0000000c Code RO 170 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08000efc 0x08000efc 0x0000000c Code RO 172 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08000f08 0x08000f08 0x00000002 Code RO 150 .text.DebugMon_Handler stm32f4xx_it.o - 0x08000f0a 0x08000f0a 0x00000002 PAD - 0x08000f0c 0x08000f0c 0x00000006 Code RO 156 .text.EXTI3_IRQHandler stm32f4xx_it.o - 0x08000f12 0x08000f12 0x00000002 PAD - 0x08000f14 0x08000f14 0x00000006 Code RO 158 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x08000f1a 0x08000f1a 0x00000002 PAD - 0x08000f1c 0x08000f1c 0x00000006 Code RO 164 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x08000f22 0x08000f22 0x00000002 PAD - 0x08000f24 0x08000f24 0x00000002 Code RO 21 .text.Error_Handler main.o - 0x08000f26 0x08000f26 0x00000002 PAD - 0x08000f28 0x08000f28 0x00000040 Code RO 1514 .text.Gimbal_RC drv_gimbal.o - 0x08000f68 0x08000f68 0x00000090 Code RO 1512 .text.Gimbal_init drv_gimbal.o - 0x08000ff8 0x08000ff8 0x00000054 Code RO 1516 .text.Gimbal_set_angle drv_gimbal.o - 0x0800104c 0x0800104c 0x0000002e Code RO 224 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x0800107a 0x0800107a 0x00000002 PAD - 0x0800107c 0x0800107c 0x000000c0 Code RO 210 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800113c 0x0800113c 0x000000de Code RO 200 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x0800121a 0x0800121a 0x00000002 PAD - 0x0800121c 0x0800121c 0x00000002 Code RO 254 .text.HAL_CAN_ErrorCallback stm32f4xx_hal_can.o - 0x0800121e 0x0800121e 0x00000002 PAD - 0x08001220 0x08001220 0x0000011e Code RO 220 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x0800133e 0x0800133e 0x00000002 PAD - 0x08001340 0x08001340 0x0000025e Code RO 228 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x0800159e 0x0800159e 0x00000002 PAD - 0x080015a0 0x080015a0 0x000000f4 Code RO 190 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08001694 0x08001694 0x00000078 Code RO 48 .text.HAL_CAN_MspInit can.o - 0x0800170c 0x0800170c 0x00000002 Code RO 242 .text.HAL_CAN_RxFifo0FullCallback stm32f4xx_hal_can.o - 0x0800170e 0x0800170e 0x00000002 PAD - 0x08001710 0x08001710 0x0000005e Code RO 1445 .text.HAL_CAN_RxFifo0MsgPendingCallback bsp_can.o - 0x0800176e 0x0800176e 0x00000002 PAD - 0x08001770 0x08001770 0x00000002 Code RO 246 .text.HAL_CAN_RxFifo1FullCallback stm32f4xx_hal_can.o - 0x08001772 0x08001772 0x00000002 PAD - 0x08001774 0x08001774 0x00000002 Code RO 248 .text.HAL_CAN_RxFifo1MsgPendingCallback stm32f4xx_hal_can.o - 0x08001776 0x08001776 0x00000002 PAD - 0x08001778 0x08001778 0x00000002 Code RO 250 .text.HAL_CAN_SleepCallback stm32f4xx_hal_can.o - 0x0800177a 0x0800177a 0x00000002 PAD - 0x0800177c 0x0800177c 0x0000005a Code RO 202 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x080017d6 0x080017d6 0x00000002 PAD - 0x080017d8 0x080017d8 0x00000002 Code RO 232 .text.HAL_CAN_TxMailbox0AbortCallback stm32f4xx_hal_can.o - 0x080017da 0x080017da 0x00000002 PAD - 0x080017dc 0x080017dc 0x00000002 Code RO 230 .text.HAL_CAN_TxMailbox0CompleteCallback stm32f4xx_hal_can.o - 0x080017de 0x080017de 0x00000002 PAD - 0x080017e0 0x080017e0 0x00000002 Code RO 236 .text.HAL_CAN_TxMailbox1AbortCallback stm32f4xx_hal_can.o - 0x080017e2 0x080017e2 0x00000002 PAD - 0x080017e4 0x080017e4 0x00000002 Code RO 234 .text.HAL_CAN_TxMailbox1CompleteCallback stm32f4xx_hal_can.o - 0x080017e6 0x080017e6 0x00000002 PAD - 0x080017e8 0x080017e8 0x00000002 Code RO 240 .text.HAL_CAN_TxMailbox2AbortCallback stm32f4xx_hal_can.o - 0x080017ea 0x080017ea 0x00000002 PAD - 0x080017ec 0x080017ec 0x00000002 Code RO 238 .text.HAL_CAN_TxMailbox2CompleteCallback stm32f4xx_hal_can.o - 0x080017ee 0x080017ee 0x00000002 PAD - 0x080017f0 0x080017f0 0x00000002 Code RO 252 .text.HAL_CAN_WakeUpFromRxMsgCallback stm32f4xx_hal_can.o - 0x080017f2 0x080017f2 0x00000002 PAD - 0x080017f4 0x080017f4 0x000001c0 Code RO 432 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x080019b4 0x080019b4 0x00000162 Code RO 418 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x08001b16 0x08001b16 0x00000002 PAD - 0x08001b18 0x08001b18 0x0000009e Code RO 424 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08001bb6 0x08001bb6 0x00000002 PAD - 0x08001bb8 0x08001bb8 0x00000028 Code RO 579 .text.HAL_Delay stm32f4xx_hal.o - 0x08001be0 0x08001be0 0x00000014 Code RO 13 .text.HAL_GPIO_EXTI_Callback main.o - 0x08001bf4 0x08001bf4 0x00000016 Code RO 392 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08001c0a 0x08001c0a 0x00000002 PAD - 0x08001c0c 0x08001c0c 0x000001b2 Code RO 380 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x08001dbe 0x08001dbe 0x00000002 PAD - 0x08001dc0 0x08001dc0 0x0000000a Code RO 386 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x08001dca 0x08001dca 0x00000002 PAD - 0x08001dcc 0x08001dcc 0x0000000c Code RO 571 .text.HAL_GetTick stm32f4xx_hal.o - 0x08001dd8 0x08001dd8 0x00000176 Code RO 649 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08001f4e 0x08001f4e 0x00000002 PAD - 0x08001f50 0x08001f50 0x0000036e Code RO 693 .text.HAL_I2C_Mem_Read stm32f4xx_hal_i2c.o - 0x080022be 0x080022be 0x00000002 PAD - 0x080022c0 0x080022c0 0x000001da Code RO 689 .text.HAL_I2C_Mem_Write stm32f4xx_hal_i2c.o - 0x0800249a 0x0800249a 0x00000002 PAD - 0x0800249c 0x0800249c 0x000000b4 Code RO 72 .text.HAL_I2C_MspInit i2c.o - 0x08002550 0x08002550 0x0000001a Code RO 569 .text.HAL_IncTick stm32f4xx_hal.o - 0x0800256a 0x0800256a 0x00000002 PAD - 0x0800256c 0x0800256c 0x00000036 Code RO 559 .text.HAL_Init stm32f4xx_hal.o + 0x080001c0 0x080001c0 0x00000062 Code RO 1699 .text mc_w.l(uldiv.o) + 0x08000222 0x08000222 0x00000024 Code RO 1701 .text mc_w.l(memseta.o) + 0x08000246 0x08000246 0x0000014e Code RO 1703 .text mf_w.l(dadd.o) + 0x08000394 0x08000394 0x000000e4 Code RO 1705 .text mf_w.l(dmul.o) + 0x08000478 0x08000478 0x000000de Code RO 1707 .text mf_w.l(ddiv.o) + 0x08000556 0x08000556 0x00000036 Code RO 1709 .text mf_w.l(dcmplt.o) + 0x0800058c 0x0800058c 0x0000001a Code RO 1711 .text mf_w.l(dfltui.o) + 0x080005a6 0x080005a6 0x00000026 Code RO 1713 .text mf_w.l(f2d.o) + 0x080005cc 0x080005cc 0x00000038 Code RO 1715 .text mf_w.l(d2f.o) + 0x08000604 0x08000604 0x0000001e Code RO 1756 .text mc_w.l(llshl.o) + 0x08000622 0x08000622 0x00000020 Code RO 1758 .text mc_w.l(llushr.o) + 0x08000642 0x08000642 0x00000024 Code RO 1760 .text mc_w.l(llsshr.o) + 0x08000666 0x08000666 0x00000000 Code RO 1769 .text mc_w.l(iusefp.o) + 0x08000666 0x08000666 0x0000006e Code RO 1770 .text mf_w.l(fepilogue.o) + 0x080006d4 0x080006d4 0x000000ba Code RO 1772 .text mf_w.l(depilogue.o) + 0x0800078e 0x0800078e 0x00000002 PAD + 0x08000790 0x08000790 0x00000024 Code RO 1774 .text mc_w.l(init.o) + 0x080007b4 0x080007b4 0x00000004 Code RO 1445 .text.AHRS_asinf ahrs_middleware.o + 0x080007b8 0x080007b8 0x00000004 Code RO 1449 .text.AHRS_atan2f ahrs_middleware.o + 0x080007bc 0x080007bc 0x00000004 Code RO 1441 .text.AHRS_cosf ahrs_middleware.o + 0x080007c0 0x080007c0 0x0000000a Code RO 1433 .text.AHRS_get_height ahrs_middleware.o + 0x080007ca 0x080007ca 0x00000002 PAD + 0x080007cc 0x080007cc 0x0000000e Code RO 1435 .text.AHRS_get_latitude ahrs_middleware.o + 0x080007da 0x080007da 0x00000002 PAD + 0x080007dc 0x080007dc 0x0000000e Code RO 1437 .text.AHRS_invSqrt ahrs_middleware.o + 0x080007ea 0x080007ea 0x00000002 PAD + 0x080007ec 0x080007ec 0x00000004 Code RO 1439 .text.AHRS_sinf ahrs_middleware.o + 0x080007f0 0x080007f0 0x0000000e Code RO 1344 .text.BMI088_ACCEL_NS_H bmi088middleware.o + 0x080007fe 0x080007fe 0x00000002 PAD + 0x08000800 0x08000800 0x0000000e Code RO 1342 .text.BMI088_ACCEL_NS_L bmi088middleware.o + 0x0800080e 0x0800080e 0x00000002 PAD + 0x08000810 0x08000810 0x00000002 Code RO 1334 .text.BMI088_GPIO_init bmi088middleware.o + 0x08000812 0x08000812 0x00000002 PAD + 0x08000814 0x08000814 0x00000010 Code RO 1348 .text.BMI088_GYRO_NS_H bmi088middleware.o + 0x08000824 0x08000824 0x00000010 Code RO 1346 .text.BMI088_GYRO_NS_L bmi088middleware.o + 0x08000834 0x08000834 0x00000002 Code RO 1336 .text.BMI088_com_init bmi088middleware.o + 0x08000836 0x08000836 0x00000002 PAD + 0x08000838 0x08000838 0x000001e6 Code RO 1338 .text.BMI088_delay_ms bmi088middleware.o + 0x08000a1e 0x08000a1e 0x00000002 PAD + 0x08000a20 0x08000a20 0x0000004a Code RO 1340 .text.BMI088_delay_us bmi088middleware.o + 0x08000a6a 0x08000a6a 0x00000002 PAD + 0x08000a6c 0x08000a6c 0x00000018 Code RO 1315 .text.BMI088_init bmi088driver.o + 0x08000a84 0x08000a84 0x0000019e Code RO 1321 .text.BMI088_read bmi088driver.o + 0x08000c22 0x08000c22 0x00000002 PAD + 0x08000c24 0x08000c24 0x0000002e Code RO 1350 .text.BMI088_read_write_byte bmi088middleware.o + 0x08000c52 0x08000c52 0x00000002 PAD + 0x08000c54 0x08000c54 0x00000002 Code RO 138 .text.BusFault_Handler stm32f4xx_it.o + 0x08000c56 0x08000c56 0x00000002 PAD + 0x08000c58 0x08000c58 0x0000000c Code RO 156 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o + 0x08000c64 0x08000c64 0x0000005e Code RO 1461 .text.CAN_cmd_chassis bsp_can.o + 0x08000cc2 0x08000cc2 0x00000002 PAD + 0x08000cc4 0x08000cc4 0x0000005e Code RO 1463 .text.CAN_cmd_gimbal bsp_can.o + 0x08000d22 0x08000d22 0x00000002 PAD + 0x08000d24 0x08000d24 0x0000005c Code RO 1496 .text.Chassis_RC drv_chassis.o + 0x08000d80 0x08000d80 0x00000088 Code RO 1494 .text.Chassis_init drv_chassis.o + 0x08000e08 0x08000e08 0x0000016c Code RO 1498 .text.Chassis_set_speed drv_chassis.o + 0x08000f74 0x08000f74 0x0000000c Code RO 154 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x08000f80 0x08000f80 0x0000000c Code RO 164 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x08000f8c 0x08000f8c 0x0000000c Code RO 166 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x08000f98 0x08000f98 0x00000002 Code RO 144 .text.DebugMon_Handler stm32f4xx_it.o + 0x08000f9a 0x08000f9a 0x00000002 PAD + 0x08000f9c 0x08000f9c 0x00000006 Code RO 150 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x08000fa2 0x08000fa2 0x00000002 PAD + 0x08000fa4 0x08000fa4 0x00000006 Code RO 152 .text.EXTI4_IRQHandler stm32f4xx_it.o + 0x08000faa 0x08000faa 0x00000002 PAD + 0x08000fac 0x08000fac 0x00000006 Code RO 158 .text.EXTI9_5_IRQHandler stm32f4xx_it.o + 0x08000fb2 0x08000fb2 0x00000002 PAD + 0x08000fb4 0x08000fb4 0x00000002 Code RO 19 .text.Error_Handler main.o + 0x08000fb6 0x08000fb6 0x00000002 PAD + 0x08000fb8 0x08000fb8 0x000000b0 Code RO 1535 .text.Gimbal_RC drv_gimbal.o + 0x08001068 0x08001068 0x000000a8 Code RO 1533 .text.Gimbal_init drv_gimbal.o + 0x08001110 0x08001110 0x00000054 Code RO 1537 .text.Gimbal_set_angle drv_gimbal.o + 0x08001164 0x08001164 0x0000002e Code RO 218 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x08001192 0x08001192 0x00000002 PAD + 0x08001194 0x08001194 0x000000c0 Code RO 204 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08001254 0x08001254 0x000000de Code RO 194 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x08001332 0x08001332 0x00000002 PAD + 0x08001334 0x08001334 0x00000002 Code RO 248 .text.HAL_CAN_ErrorCallback stm32f4xx_hal_can.o + 0x08001336 0x08001336 0x00000002 PAD + 0x08001338 0x08001338 0x0000011e Code RO 214 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x08001456 0x08001456 0x00000002 PAD + 0x08001458 0x08001458 0x0000025e Code RO 222 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x080016b6 0x080016b6 0x00000002 PAD + 0x080016b8 0x080016b8 0x000000f4 Code RO 184 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x080017ac 0x080017ac 0x00000078 Code RO 42 .text.HAL_CAN_MspInit can.o + 0x08001824 0x08001824 0x00000002 Code RO 236 .text.HAL_CAN_RxFifo0FullCallback stm32f4xx_hal_can.o + 0x08001826 0x08001826 0x00000002 PAD + 0x08001828 0x08001828 0x0000005e Code RO 1465 .text.HAL_CAN_RxFifo0MsgPendingCallback bsp_can.o + 0x08001886 0x08001886 0x00000002 PAD + 0x08001888 0x08001888 0x00000002 Code RO 240 .text.HAL_CAN_RxFifo1FullCallback stm32f4xx_hal_can.o + 0x0800188a 0x0800188a 0x00000002 PAD + 0x0800188c 0x0800188c 0x00000002 Code RO 242 .text.HAL_CAN_RxFifo1MsgPendingCallback stm32f4xx_hal_can.o + 0x0800188e 0x0800188e 0x00000002 PAD + 0x08001890 0x08001890 0x00000002 Code RO 244 .text.HAL_CAN_SleepCallback stm32f4xx_hal_can.o + 0x08001892 0x08001892 0x00000002 PAD + 0x08001894 0x08001894 0x0000005a Code RO 196 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080018ee 0x080018ee 0x00000002 PAD + 0x080018f0 0x080018f0 0x00000002 Code RO 226 .text.HAL_CAN_TxMailbox0AbortCallback stm32f4xx_hal_can.o + 0x080018f2 0x080018f2 0x00000002 PAD + 0x080018f4 0x080018f4 0x00000002 Code RO 224 .text.HAL_CAN_TxMailbox0CompleteCallback stm32f4xx_hal_can.o + 0x080018f6 0x080018f6 0x00000002 PAD + 0x080018f8 0x080018f8 0x00000002 Code RO 230 .text.HAL_CAN_TxMailbox1AbortCallback stm32f4xx_hal_can.o + 0x080018fa 0x080018fa 0x00000002 PAD + 0x080018fc 0x080018fc 0x00000002 Code RO 228 .text.HAL_CAN_TxMailbox1CompleteCallback stm32f4xx_hal_can.o + 0x080018fe 0x080018fe 0x00000002 PAD + 0x08001900 0x08001900 0x00000002 Code RO 234 .text.HAL_CAN_TxMailbox2AbortCallback stm32f4xx_hal_can.o + 0x08001902 0x08001902 0x00000002 PAD + 0x08001904 0x08001904 0x00000002 Code RO 232 .text.HAL_CAN_TxMailbox2CompleteCallback stm32f4xx_hal_can.o + 0x08001906 0x08001906 0x00000002 PAD + 0x08001908 0x08001908 0x00000002 Code RO 246 .text.HAL_CAN_WakeUpFromRxMsgCallback stm32f4xx_hal_can.o + 0x0800190a 0x0800190a 0x00000002 PAD + 0x0800190c 0x0800190c 0x000001c0 Code RO 426 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x08001acc 0x08001acc 0x00000162 Code RO 412 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08001c2e 0x08001c2e 0x00000002 PAD + 0x08001c30 0x08001c30 0x0000009e Code RO 418 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08001cce 0x08001cce 0x00000002 PAD + 0x08001cd0 0x08001cd0 0x00000028 Code RO 573 .text.HAL_Delay stm32f4xx_hal.o + 0x08001cf8 0x08001cf8 0x00000002 Code RO 11 .text.HAL_GPIO_EXTI_Callback main.o + 0x08001cfa 0x08001cfa 0x00000002 PAD + 0x08001cfc 0x08001cfc 0x00000016 Code RO 386 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08001d12 0x08001d12 0x00000002 PAD + 0x08001d14 0x08001d14 0x000001b2 Code RO 374 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x08001ec6 0x08001ec6 0x00000002 PAD + 0x08001ec8 0x08001ec8 0x0000000a Code RO 380 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x08001ed2 0x08001ed2 0x00000002 PAD + 0x08001ed4 0x08001ed4 0x0000000c Code RO 565 .text.HAL_GetTick stm32f4xx_hal.o + 0x08001ee0 0x08001ee0 0x00000176 Code RO 643 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x08002056 0x08002056 0x00000002 PAD + 0x08002058 0x08002058 0x0000036e Code RO 687 .text.HAL_I2C_Mem_Read stm32f4xx_hal_i2c.o + 0x080023c6 0x080023c6 0x00000002 PAD + 0x080023c8 0x080023c8 0x000001da Code RO 683 .text.HAL_I2C_Mem_Write stm32f4xx_hal_i2c.o 0x080025a2 0x080025a2 0x00000002 PAD - 0x080025a4 0x080025a4 0x00000048 Code RO 561 .text.HAL_InitTick stm32f4xx_hal.o - 0x080025ec 0x080025ec 0x00000042 Code RO 181 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x0800262e 0x0800262e 0x00000002 PAD - 0x08002630 0x08002630 0x00000026 Code RO 517 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08002656 0x08002656 0x00000002 PAD - 0x08002658 0x08002658 0x00000056 Code RO 515 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x080026ae 0x080026ae 0x00000002 PAD - 0x080026b0 0x080026b0 0x00000020 Code RO 513 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080026d0 0x080026d0 0x00000160 Code RO 274 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08002830 0x08002830 0x00000026 Code RO 286 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x08002856 0x08002856 0x00000002 PAD - 0x08002858 0x08002858 0x00000026 Code RO 288 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x0800287e 0x0800287e 0x00000002 PAD - 0x08002880 0x08002880 0x0000006a Code RO 276 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080028ea 0x080028ea 0x00000002 PAD - 0x080028ec 0x080028ec 0x00000364 Code RO 272 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08002c50 0x08002c50 0x00000074 Code RO 784 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x08002cc4 0x08002cc4 0x00000122 Code RO 87 .text.HAL_SPI_MspInit spi.o - 0x08002de6 0x08002de6 0x00000002 PAD - 0x08002de8 0x08002de8 0x00000298 Code RO 798 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x08003080 0x08003080 0x0000002c Code RO 525 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x080030ac 0x080030ac 0x00000002 Code RO 1188 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x080030ae 0x080030ae 0x00000002 PAD - 0x080030b0 0x080030b0 0x00000002 Code RO 1184 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x080030b2 0x080030b2 0x00000002 PAD - 0x080030b4 0x080030b4 0x000000b6 Code RO 1178 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x0800316a 0x0800316a 0x00000002 PAD - 0x0800316c 0x0800316c 0x00000036 Code RO 898 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x080031a2 0x080031a2 0x00000002 PAD - 0x080031a4 0x080031a4 0x00000076 Code RO 108 .text.HAL_TIM_Base_MspInit tim.o - 0x0800321a 0x0800321a 0x00000002 PAD - 0x0800321c 0x0800321c 0x00000020 Code RO 912 .text.HAL_TIM_Base_Start_IT stm32f4xx_hal_tim.o - 0x0800323c 0x0800323c 0x00000192 Code RO 1074 .text.HAL_TIM_ConfigClockSource stm32f4xx_hal_tim.o - 0x080033ce 0x080033ce 0x00000002 PAD - 0x080033d0 0x080033d0 0x00000002 Code RO 1034 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x080033d2 0x080033d2 0x00000002 PAD - 0x080033d4 0x080033d4 0x00000170 Code RO 1032 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08003544 0x08003544 0x00000002 Code RO 1036 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x08003546 0x08003546 0x00000002 PAD - 0x08003548 0x08003548 0x0000021c Code RO 1052 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x08003764 0x08003764 0x00000036 Code RO 952 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x0800379a 0x0800379a 0x00000002 PAD - 0x0800379c 0x0800379c 0x00000002 Code RO 954 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x0800379e 0x0800379e 0x00000002 PAD - 0x080037a0 0x080037a0 0x00000002 Code RO 1038 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x080037a2 0x080037a2 0x00000002 PAD - 0x080037a4 0x080037a4 0x00000148 Code RO 15 .text.HAL_TIM_PeriodElapsedCallback main.o - 0x080038ec 0x080038ec 0x00000002 Code RO 1042 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x080038ee 0x080038ee 0x00000002 PAD - 0x080038f0 0x080038f0 0x00000002 Code RO 1274 .text.HAL_UART_ErrorCallback stm32f4xx_hal_uart.o - 0x080038f2 0x080038f2 0x00000002 PAD - 0x080038f4 0x080038f4 0x0000005e Code RO 1200 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x08003952 0x08003952 0x00000002 PAD - 0x08003954 0x08003954 0x000000c0 Code RO 124 .text.HAL_UART_MspInit usart.o - 0x08003a14 0x08003a14 0x000000a2 Code RO 1232 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x08003ab6 0x08003ab6 0x00000002 PAD - 0x08003ab8 0x08003ab8 0x00000002 Code RO 1280 .text.HAL_UART_RxCpltCallback stm32f4xx_hal_uart.o - 0x08003aba 0x08003aba 0x00000002 PAD - 0x08003abc 0x08003abc 0x00000002 Code RO 1282 .text.HAL_UART_RxHalfCpltCallback stm32f4xx_hal_uart.o - 0x08003abe 0x08003abe 0x00000002 PAD - 0x08003ac0 0x08003ac0 0x00000002 Code RO 140 .text.HardFault_Handler stm32f4xx_it.o - 0x08003ac2 0x08003ac2 0x00000002 PAD - 0x08003ac4 0x08003ac4 0x0000031e Code RO 695 .text.I2C_RequestMemoryRead stm32f4xx_hal_i2c.o - 0x08003de2 0x08003de2 0x00000002 PAD - 0x08003de4 0x08003de4 0x00000272 Code RO 691 .text.I2C_RequestMemoryWrite stm32f4xx_hal_i2c.o - 0x08004056 0x08004056 0x00000002 PAD - 0x08004058 0x08004058 0x000000a8 Code RO 661 .text.I2C_WaitOnBTFFlagUntilTimeout stm32f4xx_hal_i2c.o - 0x08004100 0x08004100 0x00000150 Code RO 659 .text.I2C_WaitOnFlagUntilTimeout stm32f4xx_hal_i2c.o - 0x08004250 0x08004250 0x000000b8 Code RO 773 .text.I2C_WaitOnMasterAddressFlagUntilTimeout stm32f4xx_hal_i2c.o - 0x08004308 0x08004308 0x00000040 Code RO 46 .text.MX_CAN1_Init can.o - 0x08004348 0x08004348 0x0000006c Code RO 61 .text.MX_DMA_Init dma.o - 0x080043b4 0x080043b4 0x00000168 Code RO 37 .text.MX_GPIO_Init gpio.o - 0x0800451c 0x0800451c 0x00000042 Code RO 70 .text.MX_I2C3_Init i2c.o - 0x0800455e 0x0800455e 0x00000002 PAD - 0x08004560 0x08004560 0x00000052 Code RO 85 .text.MX_SPI1_Init spi.o - 0x080045b2 0x080045b2 0x00000002 PAD - 0x080045b4 0x080045b4 0x000000be Code RO 104 .text.MX_TIM10_Init tim.o - 0x08004672 0x08004672 0x00000002 PAD - 0x08004674 0x08004674 0x00000074 Code RO 102 .text.MX_TIM3_Init tim.o - 0x080046e8 0x080046e8 0x00000046 Code RO 122 .text.MX_USART3_UART_Init usart.o - 0x0800472e 0x0800472e 0x00000002 PAD - 0x08004730 0x08004730 0x000003bc Code RO 1423 .text.MahonyAHRSupdate mahonyahrs.o - 0x08004aec 0x08004aec 0x0000026c Code RO 1425 .text.MahonyAHRSupdateIMU mahonyahrs.o - 0x08004d58 0x08004d58 0x00000002 Code RO 142 .text.MemManage_Handler stm32f4xx_it.o - 0x08004d5a 0x08004d5a 0x00000002 PAD - 0x08004d5c 0x08004d5c 0x00000002 Code RO 138 .text.NMI_Handler stm32f4xx_it.o - 0x08004d5e 0x08004d5e 0x00000002 PAD - 0x08004d60 0x08004d60 0x00000184 Code RO 1497 .text.PID_angle_output apl_pid.o - 0x08004ee4 0x08004ee4 0x00000022 Code RO 1493 .text.PID_init_angle apl_pid.o - 0x08004f06 0x08004f06 0x00000002 PAD - 0x08004f08 0x08004f08 0x00000034 Code RO 1491 .text.PID_init_speed apl_pid.o - 0x08004f3c 0x08004f3c 0x000000a6 Code RO 1495 .text.PID_speed_output apl_pid.o - 0x08004fe2 0x08004fe2 0x00000002 PAD - 0x08004fe4 0x08004fe4 0x00000002 Code RO 152 .text.PendSV_Handler stm32f4xx_it.o - 0x08004fe6 0x08004fe6 0x00000002 PAD - 0x08004fe8 0x08004fe8 0x00000120 Code RO 794 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x08005108 0x08005108 0x00000002 Code RO 148 .text.SVC_Handler stm32f4xx_it.o - 0x0800510a 0x0800510a 0x00000002 PAD - 0x0800510c 0x0800510c 0x00000004 Code RO 154 .text.SysTick_Handler stm32f4xx_it.o - 0x08005110 0x08005110 0x0000001a Code RO 1306 .text.SystemInit system_stm32f4xx.o - 0x0800512a 0x0800512a 0x00000002 PAD - 0x0800512c 0x0800512c 0x0000000c Code RO 166 .text.TIM3_IRQHandler stm32f4xx_it.o - 0x08005138 0x08005138 0x0000013c Code RO 902 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x08005274 0x08005274 0x0000005c Code RO 1230 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x080052d0 0x080052d0 0x00000036 Code RO 1234 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o - 0x08005306 0x08005306 0x00000002 PAD - 0x08005308 0x08005308 0x00000006 Code RO 1236 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o - 0x0800530e 0x0800530e 0x00000002 PAD - 0x08005310 0x08005310 0x0000010a Code RO 1204 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800541a 0x0800541a 0x00000002 PAD - 0x0800541c 0x0800541c 0x000000a8 Code RO 1459 .text.USART3_IDLE_IQR bsp_dbus.o - 0x080054c4 0x080054c4 0x00000004 Code RO 168 .text.USART3_IRQHandler stm32f4xx_it.o - 0x080054c8 0x080054c8 0x00000002 Code RO 146 .text.UsageFault_Handler stm32f4xx_it.o - 0x080054ca 0x080054ca 0x00000002 PAD - 0x080054cc 0x080054cc 0x00000250 Code RO 1323 .text.bmi088_accel_init bmi088driver.o - 0x0800571c 0x0800571c 0x00000212 Code RO 1325 .text.bmi088_gyro_init bmi088driver.o - 0x0800592e 0x0800592e 0x00000002 PAD - 0x08005930 0x08005930 0x0000003c Code RO 1439 .text.can_filter_init bsp_can.o - 0x0800596c 0x0800596c 0x00000030 Code RO 1457 .text.controller_init bsp_dbus.o - 0x0800599c 0x0800599c 0x00000002 Code RO 1395 .text.ist8310_GPIO_init ist8310driver_middleware.o - 0x0800599e 0x0800599e 0x00000002 PAD - 0x080059a0 0x080059a0 0x00000028 Code RO 1403 .text.ist8310_IIC_read_muli_reg ist8310driver_middleware.o - 0x080059c8 0x080059c8 0x00000036 Code RO 1399 .text.ist8310_IIC_read_single_reg ist8310driver_middleware.o - 0x080059fe 0x080059fe 0x00000002 PAD - 0x08005a00 0x08005a00 0x00000030 Code RO 1401 .text.ist8310_IIC_write_single_reg ist8310driver_middleware.o - 0x08005a30 0x08005a30 0x00000010 Code RO 1411 .text.ist8310_RST_H ist8310driver_middleware.o - 0x08005a40 0x08005a40 0x00000010 Code RO 1413 .text.ist8310_RST_L ist8310driver_middleware.o - 0x08005a50 0x08005a50 0x00000002 Code RO 1397 .text.ist8310_com_init ist8310driver_middleware.o - 0x08005a52 0x08005a52 0x00000002 PAD - 0x08005a54 0x08005a54 0x00000004 Code RO 1407 .text.ist8310_delay_ms ist8310driver_middleware.o - 0x08005a58 0x08005a58 0x0000004a Code RO 1409 .text.ist8310_delay_us ist8310driver_middleware.o - 0x08005aa2 0x08005aa2 0x00000002 PAD - 0x08005aa4 0x08005aa4 0x000000d8 Code RO 1381 .text.ist8310_init ist8310driver.o - 0x08005b7c 0x08005b7c 0x0000005c Code RO 1385 .text.ist8310_read_mag ist8310driver.o - 0x08005bd8 0x08005bd8 0x000001c2 Code RO 17 .text.main main.o - 0x08005d9a 0x08005d9a 0x00000026 Code RO 1558 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) - 0x08005dc0 0x08005dc0 0x0000012c Code RO 1527 i.__hardfp_asinf m_wm.l(asinf.o) - 0x08005eec 0x08005eec 0x000002ac Code RO 1533 i.__hardfp_atan2f m_wm.l(atan2f.o) - 0x08006198 0x08006198 0x00000006 Code RO 1561 i.__mathlib_flt_infnan m_wm.l(funder.o) - 0x0800619e 0x0800619e 0x00000006 Code RO 1562 i.__mathlib_flt_infnan2 m_wm.l(funder.o) - 0x080061a4 0x080061a4 0x00000010 Code RO 1563 i.__mathlib_flt_invalid m_wm.l(funder.o) - 0x080061b4 0x080061b4 0x00000010 Code RO 1566 i.__mathlib_flt_underflow m_wm.l(funder.o) - 0x080061c4 0x080061c4 0x0000000e Code RO 1616 i.__scatterload_copy mc_w.l(handlers.o) - 0x080061d2 0x080061d2 0x00000002 Code RO 1617 i.__scatterload_null mc_w.l(handlers.o) - 0x080061d4 0x080061d4 0x0000000e Code RO 1618 i.__scatterload_zeroinit mc_w.l(handlers.o) - 0x080061e2 0x080061e2 0x00000002 PAD - 0x080061e4 0x080061e4 0x0000000c Code RO 1602 i.__set_errno mc_w.l(errno.o) - 0x080061f0 0x080061f0 0x0000003e Code RO 1576 i.sqrtf m_wm.l(sqrtf.o) - 0x0800622e 0x0800622e 0x00000010 Data RO 1311 .rodata.AHBPrescTable system_stm32f4xx.o - 0x0800623e 0x0800623e 0x00000008 Data RO 1312 .rodata.APBPrescTable system_stm32f4xx.o - 0x08006246 0x08006246 0x00000008 Data RO 442 .rodata.cst8 stm32f4xx_hal_dma.o - 0x0800624e 0x0800624e 0x00000012 Data RO 1329 .rodata.write_BMI088_accel_reg_data_error bmi088driver.o - 0x08006260 0x08006260 0x00000012 Data RO 1330 .rodata.write_BMI088_gyro_reg_data_error bmi088driver.o - 0x08006272 0x08006272 0x00000002 PAD - 0x08006274 0x08006274 0x00000020 Data RO 1615 Region$$Table anon$$obj.o + 0x080025a4 0x080025a4 0x000000b4 Code RO 66 .text.HAL_I2C_MspInit i2c.o + 0x08002658 0x08002658 0x0000001a Code RO 563 .text.HAL_IncTick stm32f4xx_hal.o + 0x08002672 0x08002672 0x00000002 PAD + 0x08002674 0x08002674 0x00000036 Code RO 553 .text.HAL_Init stm32f4xx_hal.o + 0x080026aa 0x080026aa 0x00000002 PAD + 0x080026ac 0x080026ac 0x00000048 Code RO 555 .text.HAL_InitTick stm32f4xx_hal.o + 0x080026f4 0x080026f4 0x00000042 Code RO 175 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08002736 0x08002736 0x00000002 PAD + 0x08002738 0x08002738 0x00000026 Code RO 511 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x0800275e 0x0800275e 0x00000002 PAD + 0x08002760 0x08002760 0x00000056 Code RO 509 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080027b6 0x080027b6 0x00000002 PAD + 0x080027b8 0x080027b8 0x00000020 Code RO 507 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x080027d8 0x080027d8 0x00000160 Code RO 268 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08002938 0x08002938 0x00000026 Code RO 280 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x0800295e 0x0800295e 0x00000002 PAD + 0x08002960 0x08002960 0x00000026 Code RO 282 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x08002986 0x08002986 0x00000002 PAD + 0x08002988 0x08002988 0x0000006a Code RO 270 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080029f2 0x080029f2 0x00000002 PAD + 0x080029f4 0x080029f4 0x00000364 Code RO 266 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08002d58 0x08002d58 0x00000074 Code RO 778 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x08002dcc 0x08002dcc 0x00000122 Code RO 81 .text.HAL_SPI_MspInit spi.o + 0x08002eee 0x08002eee 0x00000002 PAD + 0x08002ef0 0x08002ef0 0x00000298 Code RO 792 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x08003188 0x08003188 0x0000002c Code RO 519 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x080031b4 0x080031b4 0x00000002 Code RO 1182 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x080031b6 0x080031b6 0x00000002 PAD + 0x080031b8 0x080031b8 0x00000002 Code RO 1178 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x080031ba 0x080031ba 0x00000002 PAD + 0x080031bc 0x080031bc 0x000000b6 Code RO 1172 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08003272 0x08003272 0x00000002 PAD + 0x08003274 0x08003274 0x00000036 Code RO 892 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x080032aa 0x080032aa 0x00000002 PAD + 0x080032ac 0x080032ac 0x00000076 Code RO 102 .text.HAL_TIM_Base_MspInit tim.o + 0x08003322 0x08003322 0x00000002 PAD + 0x08003324 0x08003324 0x00000020 Code RO 906 .text.HAL_TIM_Base_Start_IT stm32f4xx_hal_tim.o + 0x08003344 0x08003344 0x00000192 Code RO 1068 .text.HAL_TIM_ConfigClockSource stm32f4xx_hal_tim.o + 0x080034d6 0x080034d6 0x00000002 PAD + 0x080034d8 0x080034d8 0x00000002 Code RO 1028 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x080034da 0x080034da 0x00000002 PAD + 0x080034dc 0x080034dc 0x00000170 Code RO 1026 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x0800364c 0x0800364c 0x00000002 Code RO 1030 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x0800364e 0x0800364e 0x00000002 PAD + 0x08003650 0x08003650 0x0000021c Code RO 1046 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x0800386c 0x0800386c 0x00000036 Code RO 946 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x080038a2 0x080038a2 0x00000002 PAD + 0x080038a4 0x080038a4 0x00000002 Code RO 948 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x080038a6 0x080038a6 0x00000002 PAD + 0x080038a8 0x080038a8 0x00000002 Code RO 1032 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x080038aa 0x080038aa 0x00000002 PAD + 0x080038ac 0x080038ac 0x0000006c Code RO 13 .text.HAL_TIM_PeriodElapsedCallback main.o + 0x08003918 0x08003918 0x00000002 Code RO 1036 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x0800391a 0x0800391a 0x00000002 PAD + 0x0800391c 0x0800391c 0x00000002 Code RO 1268 .text.HAL_UART_ErrorCallback stm32f4xx_hal_uart.o + 0x0800391e 0x0800391e 0x00000002 PAD + 0x08003920 0x08003920 0x0000005e Code RO 1194 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x0800397e 0x0800397e 0x00000002 PAD + 0x08003980 0x08003980 0x000000c0 Code RO 118 .text.HAL_UART_MspInit usart.o + 0x08003a40 0x08003a40 0x000000a2 Code RO 1226 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x08003ae2 0x08003ae2 0x00000002 PAD + 0x08003ae4 0x08003ae4 0x00000002 Code RO 1274 .text.HAL_UART_RxCpltCallback stm32f4xx_hal_uart.o + 0x08003ae6 0x08003ae6 0x00000002 PAD + 0x08003ae8 0x08003ae8 0x00000002 Code RO 1276 .text.HAL_UART_RxHalfCpltCallback stm32f4xx_hal_uart.o + 0x08003aea 0x08003aea 0x00000002 PAD + 0x08003aec 0x08003aec 0x00000002 Code RO 134 .text.HardFault_Handler stm32f4xx_it.o + 0x08003aee 0x08003aee 0x00000002 PAD + 0x08003af0 0x08003af0 0x0000031e Code RO 689 .text.I2C_RequestMemoryRead stm32f4xx_hal_i2c.o + 0x08003e0e 0x08003e0e 0x00000002 PAD + 0x08003e10 0x08003e10 0x00000272 Code RO 685 .text.I2C_RequestMemoryWrite stm32f4xx_hal_i2c.o + 0x08004082 0x08004082 0x00000002 PAD + 0x08004084 0x08004084 0x000000a8 Code RO 655 .text.I2C_WaitOnBTFFlagUntilTimeout stm32f4xx_hal_i2c.o + 0x0800412c 0x0800412c 0x00000150 Code RO 653 .text.I2C_WaitOnFlagUntilTimeout stm32f4xx_hal_i2c.o + 0x0800427c 0x0800427c 0x000000b8 Code RO 767 .text.I2C_WaitOnMasterAddressFlagUntilTimeout stm32f4xx_hal_i2c.o + 0x08004334 0x08004334 0x000000ec Code RO 1553 .text.INS_get_data apl_ins.o + 0x08004420 0x08004420 0x000000fa Code RO 1549 .text.INS_init apl_ins.o + 0x0800451a 0x0800451a 0x00000002 PAD + 0x0800451c 0x0800451c 0x00000040 Code RO 40 .text.MX_CAN1_Init can.o + 0x0800455c 0x0800455c 0x0000006c Code RO 55 .text.MX_DMA_Init dma.o + 0x080045c8 0x080045c8 0x00000168 Code RO 31 .text.MX_GPIO_Init gpio.o + 0x08004730 0x08004730 0x00000042 Code RO 64 .text.MX_I2C3_Init i2c.o + 0x08004772 0x08004772 0x00000002 PAD + 0x08004774 0x08004774 0x00000052 Code RO 79 .text.MX_SPI1_Init spi.o + 0x080047c6 0x080047c6 0x00000002 PAD + 0x080047c8 0x080047c8 0x000000be Code RO 98 .text.MX_TIM10_Init tim.o + 0x08004886 0x08004886 0x00000002 PAD + 0x08004888 0x08004888 0x00000074 Code RO 96 .text.MX_TIM3_Init tim.o + 0x080048fc 0x080048fc 0x00000046 Code RO 116 .text.MX_USART3_UART_Init usart.o + 0x08004942 0x08004942 0x00000002 PAD + 0x08004944 0x08004944 0x00000002 Code RO 136 .text.MemManage_Handler stm32f4xx_it.o + 0x08004946 0x08004946 0x00000002 PAD + 0x08004948 0x08004948 0x00000002 Code RO 132 .text.NMI_Handler stm32f4xx_it.o + 0x0800494a 0x0800494a 0x00000006 PAD + 0x08004950 0x08004950 0x00000184 Code RO 1517 .text.PID_angle_output apl_pid.o + 0x08004ad4 0x08004ad4 0x00000024 Code RO 1513 .text.PID_init_angle apl_pid.o + 0x08004af8 0x08004af8 0x00000026 Code RO 1511 .text.PID_init_speed apl_pid.o + 0x08004b1e 0x08004b1e 0x00000002 PAD + 0x08004b20 0x08004b20 0x000000f0 Code RO 1515 .text.PID_speed_output apl_pid.o + 0x08004c10 0x08004c10 0x00000002 Code RO 146 .text.PendSV_Handler stm32f4xx_it.o + 0x08004c12 0x08004c12 0x00000002 PAD + 0x08004c14 0x08004c14 0x00000120 Code RO 788 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x08004d34 0x08004d34 0x00000002 Code RO 142 .text.SVC_Handler stm32f4xx_it.o + 0x08004d36 0x08004d36 0x00000002 PAD + 0x08004d38 0x08004d38 0x00000004 Code RO 148 .text.SysTick_Handler stm32f4xx_it.o + 0x08004d3c 0x08004d3c 0x0000001a Code RO 1300 .text.SystemInit system_stm32f4xx.o + 0x08004d56 0x08004d56 0x00000002 PAD + 0x08004d58 0x08004d58 0x0000000c Code RO 160 .text.TIM3_IRQHandler stm32f4xx_it.o + 0x08004d64 0x08004d64 0x0000013c Code RO 896 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x08004ea0 0x08004ea0 0x0000005c Code RO 1224 .text.UART_DMAError stm32f4xx_hal_uart.o + 0x08004efc 0x08004efc 0x00000036 Code RO 1228 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o + 0x08004f32 0x08004f32 0x00000002 PAD + 0x08004f34 0x08004f34 0x00000006 Code RO 1230 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o + 0x08004f3a 0x08004f3a 0x00000002 PAD + 0x08004f3c 0x08004f3c 0x0000010a Code RO 1198 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x08005046 0x08005046 0x00000002 PAD + 0x08005048 0x08005048 0x000000a8 Code RO 1479 .text.USART3_IDLE_IQR bsp_dbus.o + 0x080050f0 0x080050f0 0x00000004 Code RO 162 .text.USART3_IRQHandler stm32f4xx_it.o + 0x080050f4 0x080050f4 0x00000002 Code RO 140 .text.UsageFault_Handler stm32f4xx_it.o + 0x080050f6 0x080050f6 0x00000002 PAD + 0x080050f8 0x080050f8 0x00000250 Code RO 1317 .text.bmi088_accel_init bmi088driver.o + 0x08005348 0x08005348 0x00000212 Code RO 1319 .text.bmi088_gyro_init bmi088driver.o + 0x0800555a 0x0800555a 0x00000002 PAD + 0x0800555c 0x0800555c 0x0000003c Code RO 1459 .text.can_filter_init bsp_can.o + 0x08005598 0x08005598 0x00000030 Code RO 1477 .text.controller_init bsp_dbus.o + 0x080055c8 0x080055c8 0x000001ca Code RO 1551 .text.imu_cali_slove apl_ins.o + 0x08005792 0x08005792 0x00000002 PAD + 0x08005794 0x08005794 0x00000002 Code RO 1389 .text.ist8310_GPIO_init ist8310driver_middleware.o + 0x08005796 0x08005796 0x00000002 PAD + 0x08005798 0x08005798 0x00000036 Code RO 1393 .text.ist8310_IIC_read_single_reg ist8310driver_middleware.o + 0x080057ce 0x080057ce 0x00000002 PAD + 0x080057d0 0x080057d0 0x00000030 Code RO 1395 .text.ist8310_IIC_write_single_reg ist8310driver_middleware.o + 0x08005800 0x08005800 0x00000010 Code RO 1405 .text.ist8310_RST_H ist8310driver_middleware.o + 0x08005810 0x08005810 0x00000010 Code RO 1407 .text.ist8310_RST_L ist8310driver_middleware.o + 0x08005820 0x08005820 0x00000002 Code RO 1391 .text.ist8310_com_init ist8310driver_middleware.o + 0x08005822 0x08005822 0x00000002 PAD + 0x08005824 0x08005824 0x00000004 Code RO 1401 .text.ist8310_delay_ms ist8310driver_middleware.o + 0x08005828 0x08005828 0x0000004a Code RO 1403 .text.ist8310_delay_us ist8310driver_middleware.o + 0x08005872 0x08005872 0x00000002 PAD + 0x08005874 0x08005874 0x000000d8 Code RO 1375 .text.ist8310_init ist8310driver.o + 0x0800594c 0x0800594c 0x000000d6 Code RO 15 .text.main main.o + 0x08005a22 0x08005a22 0x0000001a Code RO 1572 i.AHRS_fabs AHRS.lib(ahrs.o) + 0x08005a3c 0x08005a3c 0x0000029c Code RO 1573 i.AHRS_init AHRS.lib(ahrs.o) + 0x08005cd8 0x08005cd8 0x0000013a Code RO 1574 i.AHRS_update AHRS.lib(ahrs.o) + 0x08005e12 0x08005e12 0x00000026 Code RO 1717 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x08005e38 0x08005e38 0x0000012c Code RO 1666 i.__hardfp_asinf m_wm.l(asinf.o) + 0x08005f64 0x08005f64 0x000002ac Code RO 1672 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x08006210 0x08006210 0x00000150 Code RO 1678 i.__hardfp_cosf m_wm.l(cosf.o) + 0x08006360 0x08006360 0x00000190 Code RO 1684 i.__hardfp_sinf m_wm.l(sinf.o) + 0x080064f0 0x080064f0 0x00000006 Code RO 1720 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x080064f6 0x080064f6 0x00000006 Code RO 1721 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x080064fc 0x080064fc 0x00000010 Code RO 1722 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x0800650c 0x0800650c 0x00000010 Code RO 1725 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x0800651c 0x0800651c 0x00000154 Code RO 1733 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x08006670 0x08006670 0x0000000e Code RO 1778 i.__scatterload_copy mc_w.l(handlers.o) + 0x0800667e 0x0800667e 0x00000002 Code RO 1779 i.__scatterload_null mc_w.l(handlers.o) + 0x08006680 0x08006680 0x0000000e Code RO 1780 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x0800668e 0x0800668e 0x00000002 PAD + 0x08006690 0x08006690 0x0000000c Code RO 1764 i.__set_errno mc_w.l(errno.o) + 0x0800669c 0x0800669c 0x000001d0 Code RO 1575 i.accel_comple_filter AHRS.lib(ahrs.o) + 0x0800686c 0x0800686c 0x0000018c Code RO 1576 i.accel_update_kp_ki AHRS.lib(ahrs.o) + 0x080069f8 0x080069f8 0x0000016c Code RO 1577 i.angle_to_quat AHRS.lib(ahrs.o) + 0x08006b64 0x08006b64 0x000000e8 Code RO 1578 i.get_angle AHRS.lib(ahrs.o) + 0x08006c4c 0x08006c4c 0x00000084 Code RO 1583 i.quat_normalization AHRS.lib(ahrs.o) + 0x08006cd0 0x08006cd0 0x0000003e Code RO 1738 i.sqrtf m_wm.l(sqrtf.o) + 0x08006d0e 0x08006d0e 0x0000007a Code RO 1584 i.update_w AHRS.lib(ahrs.o) + 0x08006d88 0x08006d88 0x0000000c Data RO 1585 .constdata AHRS.lib(ahrs.o) + 0x08006d94 0x08006d94 0x00000020 Data RO 1734 .constdata m_wm.l(rredf.o) + 0x08006db4 0x08006db4 0x00000010 Data RO 1305 .rodata.AHBPrescTable system_stm32f4xx.o + 0x08006dc4 0x08006dc4 0x00000008 Data RO 1306 .rodata.APBPrescTable system_stm32f4xx.o + 0x08006dcc 0x08006dcc 0x00000008 Data RO 436 .rodata.cst8 stm32f4xx_hal_dma.o + 0x08006dd4 0x08006dd4 0x00000012 Data RO 1323 .rodata.write_BMI088_accel_reg_data_error bmi088driver.o + 0x08006de6 0x08006de6 0x00000012 Data RO 1324 .rodata.write_BMI088_gyro_reg_data_error bmi088driver.o + 0x08006df8 0x08006df8 0x00000020 Data RO 1777 Region$$Table anon$$obj.o - Execution Region RW_IRAM2 (Exec base: 0x10000000, Load base: 0x080062c8, Size: 0x00000000, Max: 0x00010000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x10000000, Load base: 0x08006ee0, Size: 0x00000000, Max: 0x00010000, ABSOLUTE) **** No section assigned to this execution region **** - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08006298, Size: 0x00000910, Max: 0x00020000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08006e18, Size: 0x00000a00, Max: 0x00020000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x08006298 0x00000004 Data RW 1603 .data mc_w.l(errno.o) - 0x20000004 0x0800629c 0x00000008 Data RW 614 .data..L_MergedGlobals stm32f4xx_hal.o - 0x2000000c 0x080062a4 0x00000008 Data RW 1331 .data..L_MergedGlobals bmi088driver.o - 0x20000014 0x080062ac 0x00000010 Data RW 24 .data.INS_quat main.o - 0x20000024 0x080062bc 0x00000004 Data RW 1310 .data.SystemCoreClock system_stm32f4xx.o - 0x20000028 0x080062c0 0x00000004 Data RW 1429 .data.twoKp mahonyahrs.o - 0x2000002c 0x080062c4 0x00000004 Data RW 25 .data.x main.o - 0x20000030 - 0x00000034 Zero RW 28 .bss..L_MergedGlobals main.o - 0x20000064 - 0x00000010 Zero RW 1430 .bss..L_MergedGlobals mahonyahrs.o - 0x20000074 - 0x00000020 Zero RW 1448 .bss..L_MergedGlobals bsp_can.o - 0x20000094 - 0x0000002a Zero RW 1463 .bss..L_MergedGlobals bsp_dbus.o - 0x200000be 0x080062c8 0x00000002 PAD - 0x200000c0 - 0x00000028 Zero RW 1482 .bss..L_MergedGlobals drv_chassis.o - 0x200000e8 - 0x00000078 Zero RW 1519 .bss..L_MergedGlobals drv_gimbal.o - 0x20000160 - 0x00000004 Zero RW 26 .bss.a main.o - 0x20000164 - 0x00000024 Zero RW 1518 .bss.gimbal_pitch_speed drv_gimbal.o - 0x20000188 - 0x00000028 Zero RW 52 .bss.hcan1 can.o - 0x200001b0 - 0x00000060 Zero RW 92 .bss.hdma_spi1_rx spi.o - 0x20000210 - 0x00000060 Zero RW 93 .bss.hdma_spi1_tx spi.o - 0x20000270 - 0x00000060 Zero RW 129 .bss.hdma_usart3_rx usart.o - 0x200002d0 - 0x00000054 Zero RW 76 .bss.hi2c3 i2c.o - 0x20000324 - 0x00000058 Zero RW 91 .bss.hspi1 spi.o - 0x2000037c - 0x00000040 Zero RW 113 .bss.htim10 tim.o - 0x200003bc - 0x00000040 Zero RW 112 .bss.htim3 tim.o - 0x200003fc - 0x00000040 Zero RW 128 .bss.huart3 usart.o - 0x2000043c - 0x0000003c Zero RW 1447 .bss.motor_data bsp_can.o - 0x20000478 - 0x00000004 Zero RW 613 .bss.uwTick stm32f4xx_hal.o - 0x2000047c - 0x00000090 Zero RW 1480 .bss.wheel drv_chassis.o - 0x2000050c 0x080062c8 0x00000004 PAD - 0x20000510 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000000 0x08006e18 0x00000010 Data RW 1586 .data AHRS.lib(ahrs.o) + 0x20000010 0x08006e28 0x00000004 Data RW 1765 .data mc_w.l(errno.o) + 0x20000014 0x08006e2c 0x00000008 Data RW 608 .data..L_MergedGlobals stm32f4xx_hal.o + 0x2000001c 0x08006e34 0x00000008 Data RW 1325 .data..L_MergedGlobals bmi088driver.o + 0x20000024 0x08006e3c 0x0000006c Data RW 1563 .data..L_MergedGlobals apl_ins.o + 0x20000090 0x08006ea8 0x00000010 Data RW 1556 .data.INS_quat apl_ins.o + 0x200000a0 0x08006eb8 0x00000004 Data RW 1304 .data.SystemCoreClock system_stm32f4xx.o + 0x200000a4 0x08006ebc 0x0000000c Data RW 1521 .data.k_angle_gimbal apl_pid.o + 0x200000b0 0x08006ec8 0x0000000c Data RW 1519 .data.k_speed_chassis apl_pid.o + 0x200000bc 0x08006ed4 0x0000000c Data RW 1520 .data.k_speed_gimbal apl_pid.o + 0x200000c8 - 0x00000020 Zero RW 1468 .bss..L_MergedGlobals bsp_can.o + 0x200000e8 - 0x0000002a Zero RW 1483 .bss..L_MergedGlobals bsp_dbus.o + 0x20000112 0x08006ee0 0x00000006 PAD + 0x20000118 - 0x00000028 Zero RW 1502 .bss..L_MergedGlobals drv_chassis.o + 0x20000140 - 0x00000078 Zero RW 1540 .bss..L_MergedGlobals drv_gimbal.o + 0x200001b8 - 0x0000007c Zero RW 1564 .bss..L_MergedGlobals.1 apl_ins.o + 0x20000234 - 0x00000024 Zero RW 1557 .bss.bmi088_real_data apl_ins.o + 0x20000258 - 0x00000024 Zero RW 1539 .bss.gimbal_pitch_speed drv_gimbal.o + 0x2000027c - 0x00000028 Zero RW 46 .bss.hcan1 can.o + 0x200002a4 - 0x00000060 Zero RW 86 .bss.hdma_spi1_rx spi.o + 0x20000304 - 0x00000060 Zero RW 87 .bss.hdma_spi1_tx spi.o + 0x20000364 - 0x00000060 Zero RW 123 .bss.hdma_usart3_rx usart.o + 0x200003c4 - 0x00000054 Zero RW 70 .bss.hi2c3 i2c.o + 0x20000418 - 0x00000058 Zero RW 85 .bss.hspi1 spi.o + 0x20000470 - 0x00000040 Zero RW 107 .bss.htim10 tim.o + 0x200004b0 - 0x00000040 Zero RW 106 .bss.htim3 tim.o + 0x200004f0 - 0x00000040 Zero RW 122 .bss.huart3 usart.o + 0x20000530 - 0x0000003c Zero RW 1467 .bss.motor_data bsp_can.o + 0x2000056c - 0x00000004 Zero RW 607 .bss.uwTick stm32f4xx_hal.o + 0x20000570 - 0x00000090 Zero RW 1500 .bss.wheel drv_chassis.o + 0x20000600 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o ============================================================================== @@ -3445,21 +3668,22 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug Object Name - 640 20 0 0 0 2638 apl_pid.o + 54 0 0 0 0 1403 ahrs_middleware.o + 944 16 0 124 160 3232 apl_ins.o + 702 28 0 36 0 2237 apl_pid.o 1560 0 36 8 0 5494 bmi088driver.o 670 0 0 0 0 5488 bmi088middleware.o 342 0 0 0 92 4728 bsp_can.o 216 0 0 0 42 2680 bsp_dbus.o 184 0 0 0 40 6208 can.o 108 0 0 0 0 3483 dma.o - 572 8 0 0 184 3167 drv_chassis.o - 292 8 0 0 156 2491 drv_gimbal.o + 592 12 0 0 184 3266 drv_chassis.o + 428 40 0 0 156 2638 drv_gimbal.o 360 0 0 0 0 4149 gpio.o 246 0 0 0 84 5260 i2c.o - 308 16 0 0 0 1937 ist8310driver.o - 256 0 0 0 0 4293 ist8310driver_middleware.o - 1576 16 0 4 16 5855 mahonyahrs.o - 800 0 0 20 56 7187 main.o + 216 12 0 0 0 1937 ist8310driver.o + 216 0 0 0 0 4293 ist8310driver_middleware.o + 326 0 0 0 0 5747 main.o 372 0 0 0 280 5255 spi.o 36 8 392 0 1024 820 startup_stm32f407xx.o 204 0 0 8 4 7275 stm32f4xx_hal.o @@ -3480,18 +3704,22 @@ Image component sizes 262 0 0 0 160 6868 usart.o ---------------------------------------------------------------------- - 22090 92 494 44 2272 316563 Object Totals + 21138 132 492 180 2360 313748 Object Totals 0 0 32 0 0 0 (incl. Generated) - 182 0 2 0 6 0 (incl. Padding) + 196 0 0 0 6 0 (incl. Padding) ---------------------------------------------------------------------- Code (inc. data) RO Data RW Data ZI Data Debug Library Member Name + 2718 84 12 16 0 11366 ahrs.o 300 42 0 0 0 176 asinf.o 684 90 0 0 0 208 atan2f.o + 336 56 0 0 0 136 cosf.o 38 0 0 0 0 116 fpclassifyf.o 44 12 0 0 0 464 funder.o + 340 24 32 0 0 160 rredf.o + 400 56 0 0 0 212 sinf.o 62 0 0 0 0 136 sqrtf.o 0 0 0 0 0 0 entry.o 0 0 0 0 0 0 entry10a.o @@ -3508,30 +3736,33 @@ Image component sizes 30 0 0 0 0 68 llshl.o 36 0 0 0 0 68 llsshr.o 32 0 0 0 0 68 llushr.o + 36 0 0 0 0 108 memseta.o 98 0 0 0 0 92 uldiv.o 56 0 0 0 0 88 d2f.o 334 0 0 0 0 148 dadd.o 54 0 0 0 0 80 dcmplt.o 222 0 0 0 0 100 ddiv.o 186 0 0 0 0 176 depilogue.o + 26 0 0 0 0 76 dfltui.o 228 0 0 0 0 96 dmul.o 38 0 0 0 0 68 f2d.o 110 0 0 0 0 168 fepilogue.o ---------------------------------------------------------------------- - 2652 166 0 4 0 2456 Library Totals - 2 0 0 0 0 0 (incl. Padding) + 6510 386 44 20 0 14514 Library Totals + 4 0 0 0 0 0 (incl. Padding) ---------------------------------------------------------------------- Code (inc. data) RO Data RW Data ZI Data Debug Library Name - 1128 144 0 0 0 1100 m_wm.l - 294 22 0 4 0 432 mc_w.l - 1228 0 0 0 0 924 mf_w.l + 2718 84 12 16 0 11366 AHRS.lib + 2204 280 32 0 0 1608 m_wm.l + 330 22 0 4 0 540 mc_w.l + 1254 0 0 0 0 1000 mf_w.l ---------------------------------------------------------------------- - 2652 166 0 4 0 2456 Library Totals + 6510 386 44 20 0 14514 Library Totals ---------------------------------------------------------------------- @@ -3540,15 +3771,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 24742 258 494 48 2272 317331 Grand Totals - 24742 258 494 48 2272 317331 ELF Image Totals - 24742 258 494 48 0 0 ROM Totals + 27648 518 536 200 2360 325250 Grand Totals + 27648 518 536 200 2360 325250 ELF Image Totals + 27648 518 536 200 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 25236 ( 24.64kB) - Total RW Size (RW Data + ZI Data) 2320 ( 2.27kB) - Total ROM Size (Code + RO Data + RW Data) 25284 ( 24.69kB) + Total RO Size (Code + RO Data) 28184 ( 27.52kB) + Total RW Size (RW Data + ZI Data) 2560 ( 2.50kB) + Total ROM Size (Code + RO Data + RW Data) 28384 ( 27.72kB) ============================================================================== diff --git a/MDK-ARM/Chassis_typeC/Chassis_typeC_Chassis_typeC.dep b/MDK-ARM/Chassis_typeC/Chassis_typeC_Chassis_typeC.dep index 89ee8c4908e3ea30d12565d50db43414a1923331..f6ae756ed9392a819aebf0ce796fc059a4c2419e 100644 --- a/MDK-ARM/Chassis_typeC/Chassis_typeC_Chassis_typeC.dep +++ b/MDK-ARM/Chassis_typeC/Chassis_typeC_Chassis_typeC.dep @@ -1,7 +1,7 @@ Dependencies for Project 'Chassis_typeC', Target 'Chassis_typeC': (DO NOT MODIFY !) CompilerVersion: 6190000::V6.19::ARMCLANG F (startup_stm32f407xx.s)(0x65A60C3F)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -Wa,armasm,--diag_suppress=A1950W -c -gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1" -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -Wa,armasm,--pd,"__UVISION_VERSION SETA 538" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -o chassis_typec/startup_stm32f407xx.o) -F (../Core/Src/main.c)(0x65A66A40)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/main.o -MD) +F (../Core/Src/main.c)(0x65A78FD3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/main.o -MD) I (..\Core\Inc\main.h)(0x65A60C3E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x65019B1D) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x65A60C3E) @@ -49,14 +49,9 @@ I (..\Core\Inc\gpio.h)(0x65A60C3D) I (..\Drivers\usr\bsp_can.h)(0x65A65107) I (..\Drivers\usr\bsp_dbus.h)(0x65A01DCC) I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x63884908) -I (..\Drivers\usr\BMI088driver.h)(0x65A60955) -I (..\Drivers\usr\struct_typedef.h)(0x63135A27) -I (..\Drivers\usr\ist8310driver.h)(0x65A603C6) -I (..\Drivers\usr\BMI088Middleware.h)(0x65A60992) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) -I (..\Drivers\usr\MahonyAHRS.h)(0x63135A27) -I (..\Drivers\usr\drv_chassis.h)(0x65A65107) -I (..\Drivers\usr\apl_pid.h)(0x65A671F5) +I (..\Drivers\usr\apl_INS.h)(0x65A78E54) +I (..\Drivers\usr\drv_chassis.h)(0x65A76169) +I (..\Drivers\usr\apl_pid.h)(0x65A75D1E) I (..\Drivers\usr\drv_gimbal.h)(0x65A66755) F (../Core/Src/gpio.c)(0x65A60C3D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/gpio.o -MD) I (..\Core\Inc\gpio.h)(0x65A60C3D) @@ -1365,6 +1360,50 @@ I (..\Drivers\usr\MahonyAHRS.h)(0x63135A27) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) F (..\Drivers\usr\MahonyAHRS.h)(0x63135A27)() F (..\Drivers\usr\struct_typedef.h)(0x63135A27)() +F (..\Drivers\usr\AHRS.h)(0x63135A27)() +F (..\Drivers\usr\AHRS.lib)(0x63135A27)() +F (..\Drivers\usr\AHRS_middleware.c)(0x65A78095)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/ahrs_middleware.o -MD) +I (..\Drivers\usr\AHRS_MiddleWare.h)(0x65A78907) +I (..\Drivers\usr\AHRS.h)(0x63135A27) +I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) +I (..\Core\Inc\main.h)(0x65A60C3E) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x65019B1D) +I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x65A60C3E) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x65019B1D) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x65019AFF) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x65019AFF) +I (..\Drivers\CMSIS\Include\core_cm4.h)(0x65019B01) +I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x63884908) +I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x65019B01) +I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x65019B01) +I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x65019B01) +I (C:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x63884908) +I (C:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x63884908) +I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x65019B01) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x65019AFF) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x65019B1D) +I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x63884908) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x65019B1D) +F (..\Drivers\usr\AHRS_middleware.h)(0x65A78907)() F (..\Drivers\usr\bsp_can.c)(0x65A65107)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/bsp_can.o -MD) I (..\Core\Inc\main.h)(0x65A60C3E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x65019B1D) @@ -1448,9 +1487,9 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x63884908) I (..\Core\Inc\usart.h)(0x65A60C3E) I (..\Core\Inc\main.h)(0x65A60C3E) F (..\Drivers\usr\bsp_dbus.h)(0x65A01DCC)() -F (..\Drivers\usr\drv_chassis.c)(0x65A66755)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/drv_chassis.o -MD) -I (..\Drivers\usr\drv_chassis.h)(0x65A65107) -I (..\Drivers\usr\apl_pid.h)(0x65A671F5) +F (..\Drivers\usr\drv_chassis.c)(0x65A75D1E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/drv_chassis.o -MD) +I (..\Drivers\usr\drv_chassis.h)(0x65A76169) +I (..\Drivers\usr\apl_pid.h)(0x65A75D1E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x65019AFF) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x65019AFF) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x65019B01) @@ -1494,9 +1533,9 @@ I (..\Drivers\usr\bsp_dbus.h)(0x65A01DCC) I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x63884908) I (..\Core\Inc\usart.h)(0x65A60C3E) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) -F (..\Drivers\usr\drv_chassis.h)(0x65A65107)() -F (..\Drivers\usr\apl_pid.c)(0x65A66755)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/apl_pid.o -MD) -I (..\Drivers\usr\apl_pid.h)(0x65A671F5) +F (..\Drivers\usr\drv_chassis.h)(0x65A76169)() +F (..\Drivers\usr\apl_pid.c)(0x65A760CD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/apl_pid.o -MD) +I (..\Drivers\usr\apl_pid.h)(0x65A75D1E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x65019AFF) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x65019AFF) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x65019B01) @@ -1541,10 +1580,10 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x63884908) I (..\Core\Inc\usart.h)(0x65A60C3E) I (..\Core\Inc\tim.h)(0x65A60C3D) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) -F (..\Drivers\usr\apl_pid.h)(0x65A671F5)() -F (..\Drivers\usr\drv_gimbal.c)(0x65A66755)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/drv_gimbal.o -MD) +F (..\Drivers\usr\apl_pid.h)(0x65A75D1E)() +F (..\Drivers\usr\drv_gimbal.c)(0x65A763F7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/drv_gimbal.o -MD) I (..\Drivers\usr\drv_gimbal.h)(0x65A66755) -I (..\Drivers\usr\apl_pid.h)(0x65A671F5) +I (..\Drivers\usr\apl_pid.h)(0x65A75D1E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x65019AFF) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x65019AFF) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x65019B01) @@ -1589,3 +1628,49 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x63884908) I (..\Core\Inc\usart.h)(0x65A60C3E) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) F (..\Drivers\usr\drv_gimbal.h)(0x65A66755)() +F (..\Drivers\usr\apl_INS.c)(0x65A78E54)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/usr -I./RTE/_Chassis_typeC -IC:/Keil_v5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.12.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="538" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o chassis_typec/apl_ins.o -MD) +I (..\Drivers\usr\BMI088driver.h)(0x65A60955) +I (..\Drivers\usr\struct_typedef.h)(0x63135A27) +I (..\Core\Inc\main.h)(0x65A60C3E) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x65019B1D) +I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x65A60C3E) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x65019B1D) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x65019AFF) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x65019AFF) +I (..\Drivers\CMSIS\Include\core_cm4.h)(0x65019B01) +I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x63884908) +I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x65019B01) +I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x65019B01) +I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x65019B01) +I (C:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x63884908) +I (C:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x63884908) +I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x65019B01) +I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x65019AFF) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x65019B1D) +I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x63884908) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x65019B1D) +I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x65019B1D) +I (..\Drivers\usr\ist8310driver.h)(0x65A603C6) +I (..\Drivers\usr\BMI088Middleware.h)(0x65A60992) +I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x63884908) +I (..\Drivers\usr\AHRS.h)(0x63135A27) +I (..\Drivers\usr\AHRS_MiddleWare.h)(0x65A78907) +F (..\Drivers\usr\apl_INS.h)(0x65A78E54)() diff --git a/MDK-ARM/Chassis_typeC/ahrs_middleware.d b/MDK-ARM/Chassis_typeC/ahrs_middleware.d new file mode 100644 index 0000000000000000000000000000000000000000..0e821528a29a151f8bf0da55cf9e896e6c6a4f64 --- /dev/null +++ b/MDK-ARM/Chassis_typeC/ahrs_middleware.d @@ -0,0 +1,39 @@ +chassis_typec/ahrs_middleware.o: ..\Drivers\usr\AHRS_middleware.c \ + ..\Drivers\usr\AHRS_MiddleWare.h ..\Drivers\usr\AHRS.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\Core\Inc\main.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \ + ..\Core\Inc\stm32f4xx_hal_conf.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \ + ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \ + ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \ + ..\Drivers\CMSIS\Include\core_cm4.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \ + ..\Drivers\CMSIS\Include\cmsis_version.h \ + ..\Drivers\CMSIS\Include\cmsis_compiler.h \ + ..\Drivers\CMSIS\Include\cmsis_armclang.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \ + ..\Drivers\CMSIS\Include\mpu_armv7.h \ + ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h diff --git a/MDK-ARM/Chassis_typeC/ahrs_middleware.o b/MDK-ARM/Chassis_typeC/ahrs_middleware.o new file mode 100644 index 0000000000000000000000000000000000000000..bc7e529b5773fb32a9beff4e896df84f3d3d337a Binary files /dev/null and b/MDK-ARM/Chassis_typeC/ahrs_middleware.o differ diff --git a/MDK-ARM/Chassis_typeC/apl_ins.d b/MDK-ARM/Chassis_typeC/apl_ins.d new file mode 100644 index 0000000000000000000000000000000000000000..0383fead6110d8bbb909e5bfc87f5eb08dc44411 --- /dev/null +++ b/MDK-ARM/Chassis_typeC/apl_ins.d @@ -0,0 +1,41 @@ +chassis_typec/apl_ins.o: ..\Drivers\usr\apl_INS.c \ + ..\Drivers\usr\BMI088driver.h ..\Drivers\usr\struct_typedef.h \ + ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \ + ..\Core\Inc\stm32f4xx_hal_conf.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \ + ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \ + ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \ + ..\Drivers\CMSIS\Include\core_cm4.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \ + ..\Drivers\CMSIS\Include\cmsis_version.h \ + ..\Drivers\CMSIS\Include\cmsis_compiler.h \ + ..\Drivers\CMSIS\Include\cmsis_armclang.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \ + ..\Drivers\CMSIS\Include\mpu_armv7.h \ + ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \ + ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \ + ..\Drivers\usr\ist8310driver.h ..\Drivers\usr\BMI088Middleware.h \ + C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\Drivers\usr\AHRS.h \ + ..\Drivers\usr\AHRS_MiddleWare.h diff --git a/MDK-ARM/Chassis_typeC/apl_ins.o b/MDK-ARM/Chassis_typeC/apl_ins.o new file mode 100644 index 0000000000000000000000000000000000000000..e45b9ad38641c194192f0f9710981639f8d7040a Binary files /dev/null and b/MDK-ARM/Chassis_typeC/apl_ins.o differ diff --git a/MDK-ARM/Chassis_typeC/apl_pid.o b/MDK-ARM/Chassis_typeC/apl_pid.o index e6fbc5be216723370798dd060e978f689413c79b..32fdbb780ff8d1affb9ab07aa8465f0f342eb9cf 100644 Binary files a/MDK-ARM/Chassis_typeC/apl_pid.o and b/MDK-ARM/Chassis_typeC/apl_pid.o differ diff --git a/MDK-ARM/Chassis_typeC/drv_chassis.o b/MDK-ARM/Chassis_typeC/drv_chassis.o index ebfb8c3fef0601e92a8a0a4b6027b91ca2baaa87..c6a93862dfda5a3196e3bbc571f25adef0d91942 100644 Binary files a/MDK-ARM/Chassis_typeC/drv_chassis.o and b/MDK-ARM/Chassis_typeC/drv_chassis.o differ diff --git a/MDK-ARM/Chassis_typeC/drv_gimbal.o b/MDK-ARM/Chassis_typeC/drv_gimbal.o index bbb59de3d5c869bbbc966453d63568a1de71947f..b1d22ba5889ec72b67cca3eb5490ff384e7bda84 100644 Binary files a/MDK-ARM/Chassis_typeC/drv_gimbal.o and b/MDK-ARM/Chassis_typeC/drv_gimbal.o differ diff --git a/MDK-ARM/Chassis_typeC/main.d b/MDK-ARM/Chassis_typeC/main.d index b36b20fd8211a3d1c0f1cf9e0c340aa5f101f1fb..e823f00dee10cc8d0186ffbaddae67a66bc3f053 100644 --- a/MDK-ARM/Chassis_typeC/main.d +++ b/MDK-ARM/Chassis_typeC/main.d @@ -39,8 +39,5 @@ chassis_typec/main.o: ..\Core\Src\main.c ..\Core\Inc\main.h \ ..\Core\Inc\spi.h ..\Core\Inc\tim.h ..\Core\Inc\usart.h \ ..\Core\Inc\gpio.h ..\Drivers\usr\bsp_can.h ..\Drivers\usr\bsp_dbus.h \ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdio.h \ - ..\Drivers\usr\BMI088driver.h ..\Drivers\usr\struct_typedef.h \ - ..\Drivers\usr\ist8310driver.h ..\Drivers\usr\BMI088Middleware.h \ - C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \ - ..\Drivers\usr\MahonyAHRS.h ..\Drivers\usr\drv_chassis.h \ + ..\Drivers\usr\apl_INS.h ..\Drivers\usr\drv_chassis.h \ ..\Drivers\usr\apl_pid.h ..\Drivers\usr\drv_gimbal.h diff --git a/MDK-ARM/Chassis_typeC/main.o b/MDK-ARM/Chassis_typeC/main.o index dbf8cac86b4693358099d68b20bb8d4686d2af1f..493cfd2948cf371bbb43727f8fbbd6d4d47bd95a 100644 Binary files a/MDK-ARM/Chassis_typeC/main.o and b/MDK-ARM/Chassis_typeC/main.o differ diff --git a/README.md b/README.md index 870920987e08e14f026d0a44e9e7ddd2f8a43465..7d821f25c842800b7297053788eeca8a71849a09 100644 --- a/README.md +++ b/README.md @@ -6,4 +6,15 @@ - 搴曠洏鍙啓浜嗛仴鎺 - 灏忛檧铻鸿繕娌″啓 - 闅忓姩娌″啓 -- IMU娌¤皟鏁存槑鐧 \ No newline at end of file +- IMU娌¤皟鏁存槑鐧 + + + +> 2024/1/16 + + 璋冧簯鍙皃id + + +> 2024/1/17 + + 鎶婁緥绋嬬殑imu浠ｇ爜鎼繃鏉ワ紝灏佽鎴愪簡apl_INS锛屾敞鎰廇HRS.lib杩欎釜鏂囦欢闇瑕佹斁杩沬ncludes鐩綍閲岋紝绛変环浜嶢HRS.c