diff --git a/Robot 1 tiva/ADC.c b/Pirates Robocon 2017/ADC.c similarity index 95% rename from Robot 1 tiva/ADC.c rename to Pirates Robocon 2017/ADC.c index 1c0e124..ad13a22 100644 --- a/Robot 1 tiva/ADC.c +++ b/Pirates Robocon 2017/ADC.c @@ -1,3 +1,17 @@ +//////////////////////////////////////////////// +/* +This file is used to make the robot moves straight on the line +it includes: + - calibration function used to automatically calculate + the values of the white line(or any other line) + -data acquisition function + -line following motion function + -Vertical lines counter function(intended to be used as position refrence) +Using 8 channel ldr line follower sensor +*/ +//////////////////////////////////////////////// + + #include "ADC.h" // passing an array to this function and its size to get the ADC FIFO's data diff --git a/Robot 1 tiva/ADC.h b/Pirates Robocon 2017/ADC.h similarity index 100% rename from Robot 1 tiva/ADC.h rename to Pirates Robocon 2017/ADC.h diff --git a/Robot 1 tiva/ExtDll.iex b/Pirates Robocon 2017/ExtDll.iex similarity index 100% rename from Robot 1 tiva/ExtDll.iex rename to Pirates Robocon 2017/ExtDll.iex diff --git a/Robot 1 tiva/MemMap.h b/Pirates Robocon 2017/MemMap.h similarity index 100% rename from Robot 1 tiva/MemMap.h rename to Pirates Robocon 2017/MemMap.h diff --git a/Robot 1 tiva/Motion.c b/Pirates Robocon 2017/Motion.c similarity index 79% rename from Robot 1 tiva/Motion.c rename to Pirates Robocon 2017/Motion.c index 06a7400..2327866 100644 --- a/Robot 1 tiva/Motion.c +++ b/Pirates Robocon 2017/Motion.c @@ -1,3 +1,17 @@ +//////////////////////////////////////////////// +/* +This file is used to control the motion of the whole robot + +Using 10 Motors controlled by citroen motor drivers +4 motors for base (omni wheels) +3 motors for lifter +2 motors for serving the saucer +1 motor for loading the saucer + + +*/ +//////////////////////////////////////////////// + #include "Motion.h" /* M5------>M1 @@ -6,6 +20,9 @@ M7------>M3 M8------>M4 */ /// + +////////////////////////////Each Motor has a diffrent speed in both directions////////////////// +/* unsigned long M5_CW =63; unsigned long M6_CW =276; unsigned long M7_CW =63; @@ -15,7 +32,7 @@ unsigned long M5_CCW =376; unsigned long M6_CCW =651; unsigned long M7_CCW =463; unsigned long M8_CCW =363; -/////// +///////*/ /* // Motor 1 CW dir pin // Motor 2 CCW // Motor 3 CCW // Motor 4 CW dir pin unsigned long FORWARD[4]={438,188,814,588}; @@ -77,13 +94,8 @@ void Stop() } void Forward() { - // Motor 1 CW dir pin - // Motor 2 CCW - // Motor 3 CCW - // Motor 4 CW dir pin - -// digitalWrite(Motor5,HIGH); -// analogWrite(Motor5,M5_CW) ; + digitalWrite(Motor5,HIGH); + analogWrite(Motor5,FORWARD[0]) ; digitalWrite(Motor6,LOW); analogWrite(Motor6,FORWARD[1]) ; @@ -94,20 +106,13 @@ void Forward() digitalWrite(Motor8,HIGH); analogWrite(Motor8,FORWARD[3]) ; - //// delayUs(1); // delay for motor 1 - digitalWrite(Motor5,HIGH); - analogWrite(Motor5,FORWARD[0]) ; } void Reverse() { - // Motor 1 CCW - // Motor 2 CW dir pin - // Motor 3 CW dir pin - // Motor 4 CCW -// digitalWrite(Motor5,LOW); -// analogWrite(Motor5,REVERSE[0]) ; + digitalWrite(Motor5,LOW); + analogWrite(Motor5,REVERSE[0]) ; digitalWrite(Motor6,HIGH); analogWrite(Motor6,REVERSE[1]) ; @@ -118,21 +123,13 @@ void Reverse() digitalWrite(Motor8,LOW); analogWrite(Motor8,REVERSE[3]) ; - // delayUs(1); // delay for motor 1 - digitalWrite(Motor5,LOW); - analogWrite(Motor5,REVERSE[0]) ; } void Left() { - //Motor 1 CW dir pin - //Motor 2 CW dir pin - //Motor 3 CCW - //Motor 4 CCW - -// digitalWrite(Motor5,HIGH); -// analogWrite(Motor5,M5_CW) ; + digitalWrite(Motor5,HIGH); + analogWrite(Motor5,LEFT[0]) ; digitalWrite(Motor6,HIGH); analogWrite(Motor6,LEFT[1]) ; @@ -143,22 +140,14 @@ void Left() digitalWrite(Motor8,LOW); analogWrite(Motor8,LEFT[3]) ; - // delayUs(1); // delay for motor 1 - digitalWrite(Motor5,HIGH); - analogWrite(Motor5,LEFT[0]) ; } void Right() { - //Motor 1 CCW - //Motor 2 CCW - //Motor 3 CW dir pin - //Motor 4 CW dir pin - -// digitalWrite(Motor5,LOW); -// analogWrite(Motor5,M5_CCW) ; + digitalWrite(Motor5,LOW); + analogWrite(Motor5,RIGHT[0]) ; digitalWrite(Motor6,LOW); analogWrite(Motor6,RIGHT[1]) ; @@ -168,20 +157,14 @@ void Right() digitalWrite(Motor8,HIGH); analogWrite(Motor8,RIGHT[3]) ; - - // delayUs(1); // delay for motor 1 - digitalWrite(Motor5,LOW); - analogWrite(Motor5,RIGHT[0]) ; + } void UpRight() { - //Motor 1 - //Motor 2 CCW dir pin - //Motor 3 - //Motor 4 CW dir pin + digitalWrite(Motor5,LOW); MotorStop(Motor5) ; @@ -200,13 +183,8 @@ void UpRight() void UpLeft() { - //Motor 1 CW dir pin - //Motor 2 - //Motor 3 CCW - //Motor 4 - - // digitalWrite(Motor5,HIGH); - //analogWrite(Motor5,M5_CW) ; + digitalWrite(Motor5,HIGH); + analogWrite(Motor5,UPLEFT[0]) ; digitalWrite(Motor6,LOW); MotorStop(Motor6) ; @@ -217,22 +195,14 @@ void UpLeft() digitalWrite(Motor8,LOW); MotorStop(Motor8) ; - // delayUs(1); - digitalWrite(Motor5,HIGH); - analogWrite(Motor5,UPLEFT[0]) ; } void DownRight() { - //Motor 1 CCW - //Motor 2 - //Motor 3 CW dir pin - //Motor 4 - -// digitalWrite(Motor5,LOW); -// analogWrite(Motor5,M5_CCW) ; + digitalWrite(Motor5,LOW); + analogWrite(Motor5,DOWNRIGHT[0]) ; digitalWrite(Motor6,LOW); MotorStop(Motor6) ; @@ -243,20 +213,13 @@ void DownRight() digitalWrite(Motor8,LOW); MotorStop(Motor8) ; - // delayUs(1); - digitalWrite(Motor5,LOW); - analogWrite(Motor5,DOWNRIGHT[0]) ; + } void DownLeft() { - - - //Motor 1 - //Motor 2 CW dir pin - //Motor 3 - //Motor 4 CCW + digitalWrite(Motor5,LOW); MotorStop(Motor5) ; @@ -272,15 +235,11 @@ void DownLeft() } -void ClockWise() +void ClockWise() // low speed rotation { - //Motor 1 CCW - //Motor 2 CCW - //Motor 3 CCW - //Motor 4 CCW -// digitalWrite(Motor5,LOW); -// analogWrite(Motor5,M5_CCW) ; - + digitalWrite(Motor5,LOW); + //analogWrite(Motor5,CLOCKWISE[0]) ; +analogWrite(Motor5,10000) ; digitalWrite(Motor6,LOW); //analogWrite(Motor6,CLOCKWISE[1]) ; analogWrite(Motor6,10000) ; @@ -290,21 +249,15 @@ void ClockWise() digitalWrite(Motor8,LOW); // analogWrite(Motor8,CLOCKWISE[3]) ; analogWrite(Motor8,10000) ; - // delayUs(1); - digitalWrite(Motor5,LOW); - //analogWrite(Motor5,CLOCKWISE[0]) ; -analogWrite(Motor5,10000) ; + } -void CounterClockWise() +void CounterClockWise() // low speed rotation { - //Motor 1 CW dir pin - //Motor 2 CW dir pin - //Motor 3 CW dir pin - //Motor 4 CW -// digitalWrite(Motor5,HIGH); -// analogWrite(Motor5,M5_CW) ; - + + digitalWrite(Motor5,HIGH); +// analogWrite(Motor5,COUNTERCLOCKWISE[0]) ; + analogWrite(Motor5,10000) ; digitalWrite(Motor6,HIGH); // analogWrite(Motor6,COUNTERCLOCKWISE[1]) ; analogWrite(Motor6,10000) ; @@ -314,10 +267,7 @@ void CounterClockWise() digitalWrite(Motor8,HIGH); //analogWrite(Motor8,COUNTERCLOCKWISE[3]) ; analogWrite(Motor8,10000) ; - // delayUs(1); - digitalWrite(Motor5,HIGH); -// analogWrite(Motor5,COUNTERCLOCKWISE[0]) ; - analogWrite(Motor5,10000) ; + } void lifter1up() @@ -400,17 +350,10 @@ void liftersdown() { digitalWrite(Motor9,LOW); analogWrite(Motor9,servepwm) ; - // digitalWrite(Motor10,LOW); - //analogWrite(Motor10,servepwm) ; - // Serve(); - //delayUs(10000); + } void servestop() { MotorStop(Motor9); - // MotorStop(Motor10); - // digitalWrite(ServeMotorCW,LOW); -//digitalWrite(ServeMotorCCW,LOW); - } \ No newline at end of file diff --git a/Robot 1 tiva/Motion.h b/Pirates Robocon 2017/Motion.h similarity index 100% rename from Robot 1 tiva/Motion.h rename to Pirates Robocon 2017/Motion.h diff --git a/Robot 1 tiva/MotorInit.c b/Pirates Robocon 2017/MotorInit.c similarity index 97% rename from Robot 1 tiva/MotorInit.c rename to Pirates Robocon 2017/MotorInit.c index 6bac556..cb320db 100644 --- a/Robot 1 tiva/MotorInit.c +++ b/Pirates Robocon 2017/MotorInit.c @@ -1,3 +1,27 @@ +//////////////////////////////////////////////// +/* +This file Has both tivas initializations + +Tiva 1: + - Lifters (With encoders) (Two IR sensors were intended to be used) + - Loading and Serving mechanism (With object detection Sensor) + +Tiva 2: + - Base motion (With 8 channel line follower using ADC)(two object detection sensors)(extra line sensor for vertical lines) + +File Includes: + -Seperate Ports functions + -Delay functions + -PWM Write function (analogWrite) + -Digital Write functions + -Digital Read Functions + -Stop Functions + +There are multiple of commented initializations used for trial purposes + + +*/ +//////////////////////////////////////////////// #include #include "MemMap.h" @@ -87,6 +111,10 @@ void PWMA_Init() } + + + + /* Module 0 pwm 0 PB6 genA M0 Motor3 Module 0 pwm 1 PB7 genB M0 Motor2 Module 0 pwm 2 PB4 genA M1 Motor1 @@ -129,6 +157,9 @@ void PWMB_Init() //PWM0_EN |= 0x08; // PB5 pin enable } + + + /*Module 0 pwm 6 PC4 genA M3 Motor7 Module 0 pwm 7 PC5 genB M3 Motor8 */ // PortC dir 6,7 PWM 4,5 @@ -157,6 +188,10 @@ void PWMC_Init() //PWM0_EN |= 0X80; // PC5 pin enable } + + + + // PortD 0 sensor 1 analog 2,3 dir 6,7 relays void PWMD_Init() // 0 analog 1 input 2,3,6,7 output { @@ -177,6 +212,12 @@ void PWMD_Init() // 0 analog 1 input 2,3,6,7 output // RCGCADC |= 0x01; // enable clock to ADC } + + + + + + /*Module 0 pwm 4 PC4 genA M2 Motor5 Module 0 pwm 5 PC5 genB M2 Motor6 */ // PortE 0,1 dir 2,3 analog 4,5 PWM @@ -214,6 +255,10 @@ void PWME_Init() } + + + + ///////////////////ADC TIVA 2///////////////// void ADCB_Init() // B0 dir M7 B1 dir M8 b6 b7 input interrupts 4,5 analog { @@ -384,7 +429,6 @@ void TIVA2() // initialization of tiva 2 (Base , LINE follower , base sensors) PortF_Init(); init_adc_8pins(); //init_adc_2pins(); - //SysTick_Init(); calibration(); } diff --git a/Robot 1 tiva/MotorInit.h b/Pirates Robocon 2017/MotorInit.h similarity index 100% rename from Robot 1 tiva/MotorInit.h rename to Pirates Robocon 2017/MotorInit.h diff --git a/Robot 1 tiva/PID.c b/Pirates Robocon 2017/PID.c similarity index 93% rename from Robot 1 tiva/PID.c rename to Pirates Robocon 2017/PID.c index da565c3..ac1e3b6 100644 --- a/Robot 1 tiva/PID.c +++ b/Pirates Robocon 2017/PID.c @@ -1,3 +1,17 @@ +//////////////////////////////////////////////// +/* +This file is used to set a controller (PID) for each motor of the lifters +Base on system identification on simulink to get transfer function to calculate desired response +Includes: + - RPM function for each motor + - Reveloution for each motor + +*/ +//////////////////////////////////////////////// + + + + #include "PID.h" diff --git a/Robot 1 tiva/PID.h b/Pirates Robocon 2017/PID.h similarity index 100% rename from Robot 1 tiva/PID.h rename to Pirates Robocon 2017/PID.h diff --git a/Pirates Robocon 2017/Pirates.uvgui.omar_ b/Pirates Robocon 2017/Pirates.uvgui.omar_ new file mode 100644 index 0000000..fda8549 --- /dev/null +++ b/Pirates Robocon 2017/Pirates.uvgui.omar_ @@ -0,0 +1,1360 @@ + + + + -4.1 + +
### uVision Project, (C) Keil Software
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+ + + + 0 + 1366 + 768 + + + + + + + + 1 + 0 + + 100 + 0 + + .\main.c + 0 + 1 + 42 + 1 + + 0 + + + + + diff --git a/Pirates Robocon 2017/Pirates.uvopt b/Pirates Robocon 2017/Pirates.uvopt new file mode 100644 index 0000000..e6f914e --- /dev/null +++ b/Pirates Robocon 2017/Pirates.uvopt @@ -0,0 +1,485 @@ + + + + 1.0 + +
### uVision Project, (C) Keil Software
+ + + *.c + *.s*; *.src; *.a* + *.obj + *.lib + *.txt; *.h; *.inc + *.plm + *.cpp + + + + 0 + 0 + + + + Target 1 + 0x4 + ARM-ADS + + 16000000 + + 0 + 1 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 79 + 66 + 8 + .\ + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 1 + 0 + 1 + + 0 + + 1 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 2 + + + + + + + + + + + BIN\lmidk-agdi.dll + + + + 0 + UL2CM3 + UL2CM3(-O207 -S0 -C0 -FO7 -FD20000000 -FC800 -FN1 -FF0TM4C123_256 -FS00 -FL040000) + + + + + 0 + + + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + Source Group 1 + 1 + 0 + 0 + 0 + + 1 + 1 + 5 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\MemMap.h + MemMap.h + 0 + 0 + + + 1 + 2 + 5 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\MotorInit.h + MotorInit.h + 0 + 0 + + + 1 + 3 + 1 + 0 + 0 + 0 + 0 + 1 + 42 + 0 + .\main.c + main.c + 0 + 0 + + + 1 + 4 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\MotorInit.c + MotorInit.c + 0 + 0 + + + 1 + 5 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\encoders.c + encoders.c + 0 + 0 + + + 1 + 6 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\PID.c + PID.c + 0 + 0 + + + 1 + 7 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\UART.c + UART.c + 0 + 0 + + + 1 + 8 + 2 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\startup_TM4C123.s + startup_TM4C123.s + 0 + 0 + + + 1 + 9 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\Motion.c + Motion.c + 0 + 0 + + + 1 + 10 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\ssi.c + ssi.c + 0 + 0 + + + 1 + 11 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\spi.c + spi.c + 0 + 0 + + + 1 + 12 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\pistons.c + pistons.c + 0 + 0 + + + 1 + 13 + 5 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\pistons.h + pistons.h + 0 + 0 + + + 1 + 14 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\ADC.c + ADC.c + 0 + 0 + + + 1 + 15 + 5 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\ADC.h + ADC.h + 0 + 0 + + + 1 + 16 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\Serve.c + Serve.c + 0 + 0 + + + 1 + 17 + 5 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\Serve.h + Serve.h + 0 + 0 + + + 1 + 18 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\Poles.c + Poles.c + 0 + 0 + + + 1 + 19 + 5 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\Poles.h + Poles.h + 0 + 0 + + + 1 + 20 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + .\fence.c + fence.c + 0 + 0 + + + + diff --git a/Robot 1 tiva/trial pwm functions.uvproj b/Pirates Robocon 2017/Pirates.uvproj similarity index 100% rename from Robot 1 tiva/trial pwm functions.uvproj rename to Pirates Robocon 2017/Pirates.uvproj diff --git a/Robot 1 tiva/Poles.c b/Pirates Robocon 2017/Poles.c similarity index 91% rename from Robot 1 tiva/Poles.c rename to Pirates Robocon 2017/Poles.c index b363b6f..d44c5c8 100644 --- a/Robot 1 tiva/Poles.c +++ b/Pirates Robocon 2017/Poles.c @@ -1,3 +1,18 @@ +//////////////////////////////////////////////// +/* +This file is used to automatically adjust the height, roll and pitch of the serving mechanism +Includes: + - function for every pole each have diffrent parametes that can be adjusted + (Motor lifter 1,2 and 3)(Serving motors speed ) + -functions made to know previous position using a simple algorithm to use an incrmental encoder + as an absolute + +Using three incremental optical encoders +three motors +*/ +//////////////////////////////////////////////// + + #include "Poles.h" long desired_pos1=0; diff --git a/Robot 1 tiva/Poles.h b/Pirates Robocon 2017/Poles.h similarity index 100% rename from Robot 1 tiva/Poles.h rename to Pirates Robocon 2017/Poles.h diff --git a/Pirates Robocon 2017/Serve.c b/Pirates Robocon 2017/Serve.c new file mode 100644 index 0000000..fc368ae --- /dev/null +++ b/Pirates Robocon 2017/Serve.c @@ -0,0 +1,122 @@ +//////////////////////////////////////////////// +/* +This file is used to control the whole serve mechanism + +Using object detection sensor to detect the saucer +Three motors (two for serving the saucer , one for loading the saucer from the magazines) +One piston +*/ +//////////////////////////////////////////////// + +#include "Serve.h" + +unsigned long State=1 ; +unsigned long I=0; +unsigned long state1=0; +unsigned long state2=0; +uint32_t SHARP[]={0}; + + + + void Serve() +{ + /////////////////////////////1 magazine////////////////////////// + + digitalWrite(ServePiston,LOW); + Delay1ms(15); + PD2 &= ~0x04; + analogWrite(Motor10,3000) ; + Delay1ms(5); + while(1) + { + if (ReadData()==0x24) + {MotorStop(Motor10); + digitalWrite(ServePiston,LOW); + break;} + if((PA5&0x20)==0x00) + { + if (ReadData()==0x24) + {MotorStop(Motor10); + digitalWrite(ServePiston,LOW); + + break;} + Delay1ms(65); + digitalWrite(ServePiston,HIGH); + MotorStop(Motor10); + Delay1ms(5); + Delay1ms(150); + digitalWrite(ServePiston,LOW); + PD2 |= 0x04; + analogWrite(Motor10,3000) ; + Delay1ms(470); + digitalWrite(ServePiston,LOW); + MotorStop(Motor10); + break; + } + } + +/////////////////////////////2 magazines////////////////////////// +/* +switch (State) + { + case 1: + digitalWrite(ServePiston,LOW); + Delay1ms(15); + PD2 &= ~0x04; + analogWrite(Motor10,5000) ; + State=2; + Delay1ms(5); + // state1++; + while(1) + { + if((PA5&0x20)==0x00) + //if(((PE2&0x04)==0)) + { + Delay1ms(65); + digitalWrite(ServePiston,HIGH); + MotorStop(Motor10); + Delay1ms(5); + state1++; +// PD2 |= 0x04; +// analogWrite(Motor10,5000) ; + Delay1ms(150); + // MotorStop(Motor10); + digitalWrite(ServePiston,LOW); + break; + } + } + break; + + case 2: + digitalWrite(ServePiston,LOW); + Delay1ms(15); + PD2 |= 0x04; + Delay1ms(15); + analogWrite(Motor10,5000) ; + State=1; + Delay1ms(5); + //state2++; + while(1) + { + if((PA5&0x20)==0x00) + // if(((PE2&0x04)==0)) + { + Delay1ms(65); + digitalWrite(ServePiston,HIGH); + MotorStop(Motor10); + Delay1ms(5); + // PD2 &= ~0x04; +// analogWrite(Motor10,5000) ; + Delay1ms(150); + digitalWrite(ServePiston,LOW); + // MotorStop(Motor10); + break; + } + } + break; + +} +///////////////////////////////////////////////////////////////////// +*/ + + } diff --git a/Robot 1 tiva/Serve.h b/Pirates Robocon 2017/Serve.h similarity index 100% rename from Robot 1 tiva/Serve.h rename to Pirates Robocon 2017/Serve.h diff --git a/Robot 1 tiva/UART.c b/Pirates Robocon 2017/UART.c similarity index 64% rename from Robot 1 tiva/UART.c rename to Pirates Robocon 2017/UART.c index d9b8830..1eb90fc 100644 --- a/Robot 1 tiva/UART.c +++ b/Pirates Robocon 2017/UART.c @@ -1,3 +1,9 @@ +//////////////////////////////////////////////// +/* +Trial file +*/ +//////////////////////////////////////////////// + #include "UART.h" void UART_OutChar(unsigned char data){ diff --git a/Robot 1 tiva/UART.h b/Pirates Robocon 2017/UART.h similarity index 100% rename from Robot 1 tiva/UART.h rename to Pirates Robocon 2017/UART.h diff --git a/Robot 1 tiva/adc.crf b/Pirates Robocon 2017/adc.crf similarity index 94% rename from Robot 1 tiva/adc.crf rename to Pirates Robocon 2017/adc.crf index 76ce2e8..09a5e39 100644 Binary files a/Robot 1 tiva/adc.crf and b/Pirates Robocon 2017/adc.crf differ diff --git a/Robot 1 tiva/adc.d b/Pirates Robocon 2017/adc.d similarity index 100% rename from Robot 1 tiva/adc.d rename to Pirates Robocon 2017/adc.d diff --git a/Robot 1 tiva/adc.o b/Pirates Robocon 2017/adc.o similarity index 99% rename from Robot 1 tiva/adc.o rename to Pirates Robocon 2017/adc.o index fb37d03..db04aea 100644 Binary files a/Robot 1 tiva/adc.o and b/Pirates Robocon 2017/adc.o differ diff --git a/Robot 1 tiva/encoders.c b/Pirates Robocon 2017/encoders.c similarity index 93% rename from Robot 1 tiva/encoders.c rename to Pirates Robocon 2017/encoders.c index 487bce8..4cbf8be 100644 --- a/Robot 1 tiva/encoders.c +++ b/Pirates Robocon 2017/encoders.c @@ -1,3 +1,14 @@ +//////////////////////////////////////////////// +/* +This file is used to calculate the RPM and number of counts made by the encoders using interrupts +unsing systick timer to calculate RPM +*/ +//////////////////////////////////////////////// + + + + + #include "encoders.h" unsigned long Q=0; //unsigned long State=1 ; @@ -109,7 +120,7 @@ counts3= singlePoleFilter(counts3,prev_counts3);*/ prev1 = Mlifter1counter ; // set last count reached prev2 = Mlifter2counter ; // set last count reached prev3 = Mlifter3counter ; // set last count reached -// prevMServe = MServecounter ; // set last count reached +// prevMServe = MServecounter ; // set last count reached // prev_counts1=counts1; // prev_counts2=counts2; // prev_counts3=counts3; @@ -131,7 +142,7 @@ counts3= singlePoleFilter(counts3,prev_counts3);*/ } - +/////// low pass filter float singlePoleFilter(const int current, int prev_val) { return SINGLE_POLE_C+ SINGLE_POLE_FILTER_A0*current + SINGLE_POLE_FILTER_B1*prev_val; diff --git a/Robot 1 tiva/encoders.crf b/Pirates Robocon 2017/encoders.crf similarity index 98% rename from Robot 1 tiva/encoders.crf rename to Pirates Robocon 2017/encoders.crf index f0a7651..73b9c0e 100644 Binary files a/Robot 1 tiva/encoders.crf and b/Pirates Robocon 2017/encoders.crf differ diff --git a/Robot 1 tiva/encoders.d b/Pirates Robocon 2017/encoders.d similarity index 100% rename from Robot 1 tiva/encoders.d rename to Pirates Robocon 2017/encoders.d diff --git a/Robot 1 tiva/encoders.h b/Pirates Robocon 2017/encoders.h similarity index 100% rename from Robot 1 tiva/encoders.h rename to Pirates Robocon 2017/encoders.h diff --git a/Robot 1 tiva/encoders.o b/Pirates Robocon 2017/encoders.o similarity index 99% rename from Robot 1 tiva/encoders.o rename to Pirates Robocon 2017/encoders.o index 2fd6083..66e6f61 100644 Binary files a/Robot 1 tiva/encoders.o and b/Pirates Robocon 2017/encoders.o differ diff --git a/Pirates Robocon 2017/fence.c b/Pirates Robocon 2017/fence.c new file mode 100644 index 0000000..51f6744 --- /dev/null +++ b/Pirates Robocon 2017/fence.c @@ -0,0 +1,57 @@ +//////////////////////////////////////////////// +/* +This file is used to make the robot moves straight along the +fence +Using two object detection sensors at the back of the robot +*/ +//////////////////////////////////////////////// +#include "fence.h" + + +void FenceR() +{ + + Right(); +if((digitalRead(s1)==HIGH)&&(digitalRead(s2)==HIGH)) + {Forward(); + Delay1ms(340); + } + + if((digitalRead(s1)==HIGH)&&(digitalRead(s2)==LOW)) + {CounterClockWise(); + Delay1ms(240); + ClockWise(); + Delay1ms(20); + } + if((digitalRead(s2)==HIGH)&&(digitalRead(s1)==LOW)) + {ClockWise(); + Delay1ms(240); + CounterClockWise(); + Delay1ms(20); + } + +} + +void FenceL() +{ + + Left(); +if((digitalRead(s1)==HIGH)&&(digitalRead(s2)==HIGH)) + {Forward(); + Delay1ms(340); + } + + if((digitalRead(s1)==HIGH)&&(digitalRead(s2)==LOW)) + {ClockWise(); + Delay1ms(240); + CounterClockWise(); + Delay1ms(20); + } + if((digitalRead(s2)==HIGH)&&(digitalRead(s1)==LOW)) + {CounterClockWise(); + Delay1ms(240); + ClockWise(); + Delay1ms(20); + } + +} \ No newline at end of file diff --git a/Robot 1 tiva/fence.crf b/Pirates Robocon 2017/fence.crf similarity index 98% rename from Robot 1 tiva/fence.crf rename to Pirates Robocon 2017/fence.crf index 9ee17d3..a3eaf79 100644 Binary files a/Robot 1 tiva/fence.crf and b/Pirates Robocon 2017/fence.crf differ diff --git a/Robot 1 tiva/fence.d b/Pirates Robocon 2017/fence.d similarity index 100% rename from Robot 1 tiva/fence.d rename to Pirates Robocon 2017/fence.d diff --git a/Robot 1 tiva/fence.h b/Pirates Robocon 2017/fence.h similarity index 78% rename from Robot 1 tiva/fence.h rename to Pirates Robocon 2017/fence.h index a309ed7..a69a3fa 100644 --- a/Robot 1 tiva/fence.h +++ b/Pirates Robocon 2017/fence.h @@ -5,8 +5,8 @@ #include "MotorInit.h" #include "Motion.h" -void Fence(); - +void FenceR(); +void FenceR(); #endif \ No newline at end of file diff --git a/Robot 1 tiva/fence.o b/Pirates Robocon 2017/fence.o similarity index 80% rename from Robot 1 tiva/fence.o rename to Pirates Robocon 2017/fence.o index 4673ed7..10c692f 100644 Binary files a/Robot 1 tiva/fence.o and b/Pirates Robocon 2017/fence.o differ diff --git a/Pirates Robocon 2017/main.c b/Pirates Robocon 2017/main.c new file mode 100644 index 0000000..73b8b71 --- /dev/null +++ b/Pirates Robocon 2017/main.c @@ -0,0 +1,305 @@ +//////////////////////////////////////////////// +/* + PIRATES + + +Authors : Omar Walid , Abdelrahman Eladawy 26/7/2017 +Runs on TM4C123 + +This project controls a robot designed for Robocon 2017 competition +http://aburobocon.net/ + +System Includes: + - 2 Tivas (used for robot control) + - 1 arduino (used to connect a ps3 controller and send data to tivas using spi commuinication) + - 8 channel ldr line sensor + - 1 channel ldr line sensor + - 3 optical encoders + - 3 object detection sensors + - 2 IR sensors + - 10 Motors + - 3 Pistons + + +- Project has full detailed files each for a specific function in the robot a Memory map and an initalization file +(linked to tivaware to use the SSI file)(some files are just for trial reasons) + +-Robot has two modes Manual mode and Automatic mode + +-Robot has three PID controllers used for height,pitch and roll control. +Controllers were calculated based on system identification using simulink +which gave a transfer function that was used to get the controllers parametes (PID) + + + + + +For more info contact: +omarwalid@outlook.com +Abdelrahmanhm23@gmail.com + +Please feel free to contact us for any questions or comments + + +*/ +//////////////////////////////////////////////// + + + + +#include "MemMap.h" +#include "MotorInit.h" +#include "PID.h" +#include "UART.h" +#include "Motion.h" +#include "spi.h" +#include "pistons.h" +#include "Serve.h" +#include "encoders.h" +#include "Poles.h" +#include "ADC.h" +#include "fence.h" +#include +#define SCB_R (*((volatile unsigned long *) 0xE000ED88)) + + + int i=0; +int a=0; +unsigned long servepwm=8000 ; + + +void Delay1ms(unsigned long msec); +void Data(); + +int main() +{ + TIVA1(); // change to TIVA2() to upload to the second tiva + while(1) + { + Data(); + } +} + + + +void Data() +{ + if(ReadData()==0x30) // ps button + {Stop(); + servestop(); + liftersStop();} + if (ReadData()== 0x23) // start manual mode + { + //a=20; +while(1) +{ + if(ReadData()==0x0A) // ps button + {Stop(); + servestop(); + liftersStop();} + if(ReadData()==0x30) // ps button + {Stop(); + servestop(); + liftersStop();} + // a=20; + if(ReadData()==0x30) // ps button + {Stop(); + servestop(); + liftersStop();} + if(ReadData()==stop) + {Stop();} + else if(ReadData()==F) // analog forward + {Forward(); + a=1;} + else if(ReadData()==Rev) // analog backward + {Reverse(); + a=2;} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==L) // analog left + {Left(); + a=3;} + else if(ReadData()==R) // analog right + {Right(); + a=4;} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==UR) // analog upright + {UpRight(); + a=5;} + else if(ReadData()==UL) // analog upright + {UpLeft(); + a=6;} + else if(ReadData()==DR) // analog down right + {DownRight(); + a=7;} + else if(ReadData()==DL) //analog down left + {DownLeft(); + a=8;} + else if(ReadData()==CW) // right analog right( CW) + {ClockWise(); + a=9;} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==CCW) // right analog left (CCW) + {CounterClockWise(); + a=10;} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==ServeStart) // R1 + {analogWrite(Motor9,servepwm) ; +Delay1ms(5); + Serve(); + } + else if(ReadData()==ServeStop) // L1 + {servestop();} + else if(ReadData()==LIFT1_UP) // R2 + {lifter1up();} + else if(ReadData()==LIFT1_DOWN) // L2 + {lifter1down();} + else if(ReadData()==LIFT12_UP) // TRIANGLE + {lifter12up();} + else if(ReadData()==LIFT12_DOWN) // CROSS + {a=40; + lifter12down();} + else if(ReadData()==LIFT3_UP) // CIRCLE + {lifter3up();} + else if(ReadData()==LIFT3_DOWN) // SQUARE + {lifter3down();} + else if(ReadData()==LIFTall_UP) // UP + {liftersup();} + else if(ReadData()==LIFTall_DOWN) // DOWN + {liftersdown();} + else if(ReadData()==LIFT_STOP) + {liftersStop();} + else if(ReadData()==servepwm_DOWN) // LEFT + {servepwm=servepwm+12; + if(servepwm>16000) + { servepwm=15800; } } + else if(ReadData()==servepwm_UP) // RIGHT + {servepwm=servepwm-12; + if(servepwm<80) + {servepwm=500;} + if(servepwm>0xFFFF) + {servepwm=500;} + } + else if(ReadData()==stop) + {Stop();} + if (ReadData()==0x24)////////break and go into automatic mode + {break;} + } +} + +/////////////////////////////////// select Automatic mode//////////////////////////////////// + if (ReadData()==0x24) + { + a=90; + + while(1) + { + if(ReadData()==0x30) // ps button + {Stop(); + servestop(); + liftersStop();} + if(ReadData()==0x0A) // ps button + {Stop(); + servestop(); + liftersStop();} + //------------------------------------------------------------- + if (ReadData()==POLE1) + {Pole1(2915,3550,2730,4000);} + //------------------------------------------------------------- + if (ReadData()==POLE2) + {Pole2(3300,3650,2730,10224);} + //------------------------------------------------------------- + if (ReadData()==POLE3) + {Pole1(3300,3650,2730,9552);} + //------------------------------------------------------------- + if (ReadData()==POLE4) + {Pole4(0,0,0,1550);} + //---------------------------------------------------------- +// if (ReadData()==POLE5) +// {Pole5(0,0,0,1550);} +//------------------------------------------------------------- +else if(ReadData()==servepwm_DOWN) // LEFT + {servepwm=servepwm+25; + if(servepwm>16000) + { servepwm=15800; } } + else if(ReadData()==servepwm_UP) // RIGHT + {servepwm=servepwm-25; + if(servepwm<80) + {servepwm=500;} + if(servepwm>0xFFFF) + {servepwm=500;} + } +//------------------------------------------------------------- + if(ReadData()==stop) + {Stop();} + else if(ReadData()==F) // analog forward + {Forward();} + else if(ReadData()==Rev) // analog backward + {Reverse();} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==L) // analog left + {Left();} + else if(ReadData()==R) // analog right + {Right();} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==UR) // analog upright + {UpRight();} + else if(ReadData()==UL) // analog upright + {UpLeft();} + else if(ReadData()==DR) // analog down right + {DownRight();} + else if(ReadData()==DL) //analog down left + {DownLeft();} + else if(ReadData()==CW) // right analog right(CW) + {ClockWise();} + else if(ReadData()==stop) + {Stop();} + else if(ReadData()==CCW) // right analog left (CCW) + {CounterClockWise();} + else if(ReadData()==stop) + {Stop(); + MotorStop(Motor10);} + else if(ReadData()==ServeStart) // R1 + {serve();} + else if(ReadData()==ServeStop) // L1 + {servestop();} + else if(ReadData()==LIFT_STOP) + {liftersStop(); + MotorStop(Motor10);} + else if(ReadData()==R2) + { + PD2 &= ~0x04; + analogWrite(Motor10,1000) ; + } + else if(ReadData()==L2) // L2 + { + PD2 |= 0x04; + analogWrite(Motor10,1000) ; + } + + else if(ReadData()==POLE5) + { + digitalWrite(ServePiston,HIGH); + Delay1ms(150); + digitalWrite(ServePiston,LOW); + } + if (ReadData()==0x23) + {break;} + } +} +} + + + + +void SystemInit(void) +{ +/* Grant coprocessor access */ +/* This is required since TM4C123G has a floating point coprocessor */ + SCB_R |= 0x00f00000; +} \ No newline at end of file diff --git a/Robot 1 tiva/main.crf b/Pirates Robocon 2017/main.crf similarity index 96% rename from Robot 1 tiva/main.crf rename to Pirates Robocon 2017/main.crf index a692dfa..5a6f9fc 100644 Binary files a/Robot 1 tiva/main.crf and b/Pirates Robocon 2017/main.crf differ diff --git a/Robot 1 tiva/main.d b/Pirates Robocon 2017/main.d similarity index 100% rename from Robot 1 tiva/main.d rename to Pirates Robocon 2017/main.d diff --git a/Robot 1 tiva/main.o b/Pirates Robocon 2017/main.o similarity index 77% rename from Robot 1 tiva/main.o rename to Pirates Robocon 2017/main.o index 4564b73..5f300c9 100644 Binary files a/Robot 1 tiva/main.o and b/Pirates Robocon 2017/main.o differ diff --git a/Robot 1 tiva/motion.crf b/Pirates Robocon 2017/motion.crf similarity index 96% rename from Robot 1 tiva/motion.crf rename to Pirates Robocon 2017/motion.crf index 4513f1f..8005126 100644 Binary files a/Robot 1 tiva/motion.crf and b/Pirates Robocon 2017/motion.crf differ diff --git a/Robot 1 tiva/motion.d b/Pirates Robocon 2017/motion.d similarity index 100% rename from Robot 1 tiva/motion.d rename to Pirates Robocon 2017/motion.d diff --git a/Robot 1 tiva/motion.o b/Pirates Robocon 2017/motion.o similarity index 60% rename from Robot 1 tiva/motion.o rename to Pirates Robocon 2017/motion.o index eac5c8a..bf60bd8 100644 Binary files a/Robot 1 tiva/motion.o and b/Pirates Robocon 2017/motion.o differ diff --git a/Robot 1 tiva/motorinit.crf b/Pirates Robocon 2017/motorinit.crf similarity index 86% rename from Robot 1 tiva/motorinit.crf rename to Pirates Robocon 2017/motorinit.crf index e1fadee..97ffce1 100644 Binary files a/Robot 1 tiva/motorinit.crf and b/Pirates Robocon 2017/motorinit.crf differ diff --git a/Robot 1 tiva/motorinit.d b/Pirates Robocon 2017/motorinit.d similarity index 100% rename from Robot 1 tiva/motorinit.d rename to Pirates Robocon 2017/motorinit.d diff --git a/Robot 1 tiva/motorinit.o b/Pirates Robocon 2017/motorinit.o similarity index 93% rename from Robot 1 tiva/motorinit.o rename to Pirates Robocon 2017/motorinit.o index e4853d3..d241261 100644 Binary files a/Robot 1 tiva/motorinit.o and b/Pirates Robocon 2017/motorinit.o differ diff --git a/Robot 1 tiva/pid.crf b/Pirates Robocon 2017/pid.crf similarity index 97% rename from Robot 1 tiva/pid.crf rename to Pirates Robocon 2017/pid.crf index 341534b..1b2ffb6 100644 Binary files a/Robot 1 tiva/pid.crf and b/Pirates Robocon 2017/pid.crf differ diff --git a/Robot 1 tiva/pid.d b/Pirates Robocon 2017/pid.d similarity index 100% rename from Robot 1 tiva/pid.d rename to Pirates Robocon 2017/pid.d diff --git a/Robot 1 tiva/pid.o b/Pirates Robocon 2017/pid.o similarity index 98% rename from Robot 1 tiva/pid.o rename to Pirates Robocon 2017/pid.o index f700f0d..c43882a 100644 Binary files a/Robot 1 tiva/pid.o and b/Pirates Robocon 2017/pid.o differ diff --git a/Robot 1 tiva/pistons.c b/Pirates Robocon 2017/pistons.c similarity index 87% rename from Robot 1 tiva/pistons.c rename to Pirates Robocon 2017/pistons.c index 997b754..b1eac76 100644 --- a/Robot 1 tiva/pistons.c +++ b/Pirates Robocon 2017/pistons.c @@ -1,3 +1,10 @@ +//////////////////////////////////////////////// +/* +Trial file +*/ +//////////////////////////////////////////////// + + #include "pistons.h" /* int n =0 ; diff --git a/Robot 1 tiva/pistons.crf b/Pirates Robocon 2017/pistons.crf similarity index 100% rename from Robot 1 tiva/pistons.crf rename to Pirates Robocon 2017/pistons.crf diff --git a/Robot 1 tiva/pistons.d b/Pirates Robocon 2017/pistons.d similarity index 100% rename from Robot 1 tiva/pistons.d rename to Pirates Robocon 2017/pistons.d diff --git a/Robot 1 tiva/pistons.h b/Pirates Robocon 2017/pistons.h similarity index 100% rename from Robot 1 tiva/pistons.h rename to Pirates Robocon 2017/pistons.h diff --git a/Robot 1 tiva/pistons.o b/Pirates Robocon 2017/pistons.o similarity index 91% rename from Robot 1 tiva/pistons.o rename to Pirates Robocon 2017/pistons.o index 4a445d6..f1fe336 100644 Binary files a/Robot 1 tiva/pistons.o and b/Pirates Robocon 2017/pistons.o differ diff --git a/Robot 1 tiva/poles.crf b/Pirates Robocon 2017/poles.crf similarity index 96% rename from Robot 1 tiva/poles.crf rename to Pirates Robocon 2017/poles.crf index cfc64fb..1ce29a9 100644 Binary files a/Robot 1 tiva/poles.crf and b/Pirates Robocon 2017/poles.crf differ diff --git a/Robot 1 tiva/poles.d b/Pirates Robocon 2017/poles.d similarity index 100% rename from Robot 1 tiva/poles.d rename to Pirates Robocon 2017/poles.d diff --git a/Robot 1 tiva/poles.o b/Pirates Robocon 2017/poles.o similarity index 99% rename from Robot 1 tiva/poles.o rename to Pirates Robocon 2017/poles.o index 79251d8..605f0a5 100644 Binary files a/Robot 1 tiva/poles.o and b/Pirates Robocon 2017/poles.o differ diff --git a/Robot 1 tiva/serve.crf b/Pirates Robocon 2017/serve.crf similarity index 98% rename from Robot 1 tiva/serve.crf rename to Pirates Robocon 2017/serve.crf index 32ac721..c9a9170 100644 Binary files a/Robot 1 tiva/serve.crf and b/Pirates Robocon 2017/serve.crf differ diff --git a/Robot 1 tiva/serve.d b/Pirates Robocon 2017/serve.d similarity index 100% rename from Robot 1 tiva/serve.d rename to Pirates Robocon 2017/serve.d diff --git a/Robot 1 tiva/serve.o b/Pirates Robocon 2017/serve.o similarity index 82% rename from Robot 1 tiva/serve.o rename to Pirates Robocon 2017/serve.o index 61fcdd9..0faef66 100644 Binary files a/Robot 1 tiva/serve.o and b/Pirates Robocon 2017/serve.o differ diff --git a/Robot 1 tiva/spi.c b/Pirates Robocon 2017/spi.c similarity index 88% rename from Robot 1 tiva/spi.c rename to Pirates Robocon 2017/spi.c index 5183888..d4081c9 100644 --- a/Robot 1 tiva/spi.c +++ b/Pirates Robocon 2017/spi.c @@ -1,3 +1,11 @@ +//////////////////////////////////////////////// +/* + +This file is used to Read the data sent from Arduino to the tiva + +*/ +//////////////////////////////////////////////// + #include "spi.h" @@ -34,8 +42,8 @@ char servepwm_DOWN = 0x22; // LEFT char POLE3 = 0x14; // TRIANGLE char POLE1 = 0x15; // CROSS char POLE2 =0x16; // CIRCLE -char POLE5 = 0x17; // SQUARE -char POLE4 = 0x18; // UP +char POLE4 = 0x17; // SQUARE +char POLE5 = 0x18; // UP char VERTICAL_LINE = 0x19; // DOWN char LINE = 0x21 ; //RIGHT char R2=0x27; // R2 diff --git a/Robot 1 tiva/spi.crf b/Pirates Robocon 2017/spi.crf similarity index 98% rename from Robot 1 tiva/spi.crf rename to Pirates Robocon 2017/spi.crf index da1810c..32d40f8 100644 Binary files a/Robot 1 tiva/spi.crf and b/Pirates Robocon 2017/spi.crf differ diff --git a/Robot 1 tiva/spi.d b/Pirates Robocon 2017/spi.d similarity index 100% rename from Robot 1 tiva/spi.d rename to Pirates Robocon 2017/spi.d diff --git a/Robot 1 tiva/spi.h b/Pirates Robocon 2017/spi.h similarity index 100% rename from Robot 1 tiva/spi.h rename to Pirates Robocon 2017/spi.h diff --git a/Robot 1 tiva/spi.o b/Pirates Robocon 2017/spi.o similarity index 98% rename from Robot 1 tiva/spi.o rename to Pirates Robocon 2017/spi.o index 54f8d6f..8cdc71f 100644 Binary files a/Robot 1 tiva/spi.o and b/Pirates Robocon 2017/spi.o differ diff --git a/Robot 1 tiva/ssi.c b/Pirates Robocon 2017/ssi.c similarity index 100% rename from Robot 1 tiva/ssi.c rename to Pirates Robocon 2017/ssi.c diff --git a/Robot 1 tiva/ssi.crf b/Pirates Robocon 2017/ssi.crf similarity index 100% rename from Robot 1 tiva/ssi.crf rename to Pirates Robocon 2017/ssi.crf diff --git a/Robot 1 tiva/ssi.d b/Pirates Robocon 2017/ssi.d similarity index 100% rename from Robot 1 tiva/ssi.d rename to Pirates Robocon 2017/ssi.d diff --git a/Robot 1 tiva/ssi.o b/Pirates Robocon 2017/ssi.o similarity index 99% rename from Robot 1 tiva/ssi.o rename to Pirates Robocon 2017/ssi.o index 45d01b0..de69e68 100644 Binary files a/Robot 1 tiva/ssi.o and b/Pirates Robocon 2017/ssi.o differ diff --git a/Robot 1 tiva/startup.d b/Pirates Robocon 2017/startup.d similarity index 100% rename from Robot 1 tiva/startup.d rename to Pirates Robocon 2017/startup.d diff --git a/Robot 1 tiva/startup.lst b/Pirates Robocon 2017/startup.lst similarity index 100% rename from Robot 1 tiva/startup.lst rename to Pirates Robocon 2017/startup.lst diff --git a/Robot 1 tiva/startup.o b/Pirates Robocon 2017/startup.o similarity index 100% rename from Robot 1 tiva/startup.o rename to Pirates Robocon 2017/startup.o diff --git a/Robot 1 tiva/startup.s b/Pirates Robocon 2017/startup.s similarity index 100% rename from Robot 1 tiva/startup.s rename to Pirates Robocon 2017/startup.s diff --git a/Robot 1 tiva/startup_TM4C123.s b/Pirates Robocon 2017/startup_TM4C123.s similarity index 100% rename from Robot 1 tiva/startup_TM4C123.s rename to Pirates Robocon 2017/startup_TM4C123.s diff --git a/Robot 1 tiva/startup_tm4c123.d b/Pirates Robocon 2017/startup_tm4c123.d similarity index 100% rename from Robot 1 tiva/startup_tm4c123.d rename to Pirates Robocon 2017/startup_tm4c123.d diff --git a/Robot 1 tiva/startup_tm4c123.lst b/Pirates Robocon 2017/startup_tm4c123.lst similarity index 100% rename from Robot 1 tiva/startup_tm4c123.lst rename to Pirates Robocon 2017/startup_tm4c123.lst diff --git a/Robot 1 tiva/startup_tm4c123.o b/Pirates Robocon 2017/startup_tm4c123.o similarity index 100% rename from Robot 1 tiva/startup_tm4c123.o rename to Pirates Robocon 2017/startup_tm4c123.o diff --git a/Pirates Robocon 2017/trial pwm functions.axf b/Pirates Robocon 2017/trial pwm functions.axf new file mode 100644 index 0000000..54847ce Binary files /dev/null and b/Pirates Robocon 2017/trial pwm functions.axf differ diff --git a/Pirates Robocon 2017/trial pwm functions.build_log.htm b/Pirates Robocon 2017/trial pwm functions.build_log.htm new file mode 100644 index 0000000..5b09a6e --- /dev/null +++ b/Pirates Robocon 2017/trial pwm functions.build_log.htm @@ -0,0 +1,12 @@ + + +
+
µVision Build Log

+
Project:

+C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\Pirates.uvproj
+Project File Date:  07/09/2017
+
+
Output:

+
+ + diff --git a/Robot 1 tiva/trial pwm functions.htm b/Pirates Robocon 2017/trial pwm functions.htm similarity index 87% rename from Robot 1 tiva/trial pwm functions.htm rename to Pirates Robocon 2017/trial pwm functions.htm index 7ee0a91..4e26045 100644 --- a/Robot 1 tiva/trial pwm functions.htm +++ b/Pirates Robocon 2017/trial pwm functions.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\trial pwm functions.axf]

Static Call Graph for image .\trial pwm functions.axf

-

#<CALLGRAPH># ARM Linker, 5.03 [Build 76]: Last Updated: Sat Jul 22 16:22:42 2017 +

#<CALLGRAPH># ARM Linker, 5.03 [Build 76]: Last Updated: Tue Aug 01 14:48:26 2017

Maximum Stack Usage = 64 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -370,7 +370,7 @@

__rt_entry_main (Thumb, 0 bytes, Stack size unknown bytes, rtentry2.o(.ARM.Collect$$rtentry$$0000000D))

[Stack]

  • Max Depth = 64 + Unknown Stack Size -
  • Call Chain = __rt_entry_main ⇒ main ⇒ Data ⇒ Pole5 ⇒ PID_ML3_REV ⇒ map +
  • Call Chain = __rt_entry_main ⇒ main ⇒ Data ⇒ Pole4 ⇒ PID_ML3_REV ⇒ map

[Calls]
  • >>   main
  • >>   exit @@ -392,12 +392,11 @@



    [Calls]
    • >>   _sys_exit
    -

    Data (Thumb, 1610 bytes, Stack size 8 bytes, main.o(.text)) -

    [Stack]

    • Max Depth = 64
    • Call Chain = Data ⇒ Pole5 ⇒ PID_ML3_REV ⇒ map +

      Data (Thumb, 1632 bytes, Stack size 8 bytes, main.o(.text)) +

      [Stack]

      • Max Depth = 64
      • Call Chain = Data ⇒ Pole4 ⇒ PID_ML3_REV ⇒ map

      [Calls]
      • >>   servestop -
      • >>   serve -
      • >>   line +
      • >>   serve
      • >>   liftersup
      • >>   liftersdown
      • >>   liftersStop @@ -407,7 +406,7 @@

      • >>   lifter1down
      • >>   lifter12up
      • >>   lifter12down -
      • >>   digitalWrite +
      • >>   digitalWrite
      • >>   analogWrite
      • >>   UpRight
      • >>   UpLeft @@ -416,11 +415,10 @@

      • >>   Right
      • >>   Reverse
      • >>   ReadData -
      • >>   Pole5
      • >>   Pole4
      • >>   Pole2
      • >>   Pole1 -
      • >>   MotorStop +
      • >>   MotorStop
      • >>   Left
      • >>   Forward
      • >>   DownRight @@ -433,9 +431,9 @@

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

      [Stack]

      • Max Depth = 64
      • Call Chain = main ⇒ Data ⇒ Pole5 ⇒ PID_ML3_REV ⇒ map +

        [Stack]
        • Max Depth = 64
        • Call Chain = main ⇒ Data ⇒ Pole4 ⇒ PID_ML3_REV ⇒ map
        -
        [Calls]
        • >>   TIVA1 +
          [Calls]
          • >>   TIVA1
          • >>   Data

          [Called By]
          • >>   __rt_entry_main @@ -444,58 +442,59 @@

            SystemInit (Thumb, 14 bytes, Stack size 0 bytes, main.o(.text))
            [Address Reference Count : 1]

            • startup_tm4c123.o(.text)
            -

            PWMA_Init (Thumb, 314 bytes, Stack size 0 bytes, motorinit.o(.text)) -

            [Called By]

            • >>   TIVA1 +

              PWMA_Init (Thumb, 314 bytes, Stack size 0 bytes, motorinit.o(.text)) +

              [Called By]

              • >>   TIVA1
              -

              PWMB_Init (Thumb, 230 bytes, Stack size 0 bytes, motorinit.o(.text)) -

              [Called By]

              • >>   TIVA1 +

                PWMB_Init (Thumb, 230 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                [Called By]

                • >>   TIVA1
                -

                PWMC_Init (Thumb, 172 bytes, Stack size 0 bytes, motorinit.o(.text)) -

                [Called By]

                • >>   TIVA1 +

                  PWMC_Init (Thumb, 172 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                  [Called By]

                  • >>   TIVA1
                  -

                  PWMD_Init (Thumb, 150 bytes, Stack size 0 bytes, motorinit.o(.text)) -

                  [Called By]

                  • >>   TIVA1 +

                    PWMD_Init (Thumb, 150 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                    [Called By]

                    • >>   TIVA1
                    -

                    PWME_Init (Thumb, 436 bytes, Stack size 0 bytes, motorinit.o(.text)) -

                    [Called By]

                    • >>   TIVA1 +

                      PWME_Init (Thumb, 436 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                      [Called By]

                      • >>   TIVA1
                      -

                      ADCB_Init (Thumb, 130 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) -

                      [Called By]

                      • >>   TIVA2 +

                        ADCB_Init (Thumb, 130 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) +

                        [Called By]

                        • >>   TIVA2
                        -

                        ADCC_Init (Thumb, 172 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) -

                        [Called By]

                        • >>   TIVA2 +

                          ADCC_Init (Thumb, 172 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) +

                          [Called By]

                          • >>   TIVA2
                          -

                          ADCD_Init (Thumb, 42 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) -

                          [Called By]

                          • >>   TIVA2 +

                            ADCD_Init (Thumb, 42 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) +

                            [Called By]

                            • >>   TIVA2
                            -

                            ADCE_Init (Thumb, 148 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) -

                            [Called By]

                            • >>   TIVA2 +

                              ADCE_Init (Thumb, 148 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) +

                              [Called By]

                              • >>   TIVA2
                              -

                              PortF_Init (Thumb, 218 bytes, Stack size 0 bytes, motorinit.o(.text)) -

                              [Called By]

                              • >>   TIVA2 -
                              • >>   TIVA1 +

                                PortF_Init (Thumb, 218 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                                [Called By]

                                • >>   TIVA2 +
                                • >>   TIVA1
                                -

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

                                [Called By]

                                • >>   TIVA1 +

                                  SysTick_Init (Thumb, 28 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                                  [Called By]

                                  • >>   TIVA1
                                  -

                                  digitalWrite (Thumb, 818 bytes, Stack size 0 bytes, motorinit.o(.text)) -

                                  [Called By]

                                  • >>   Pole3 -
                                  • >>   Pole -
                                  • >>   lifter2down -
                                  • >>   lifter2up -
                                  • >>   serve -
                                  • >>   line +

                                    digitalWrite (Thumb, 818 bytes, Stack size 0 bytes, motorinit.o(.text)) +

                                    [Called By]

                                    • >>   Pole5 +
                                    • >>   Pole3 +
                                    • >>   Pole +
                                    • >>   line +
                                    • >>   lifter2down +
                                    • >>   lifter2up +
                                    • >>   serve
                                    • >>   liftersup
                                    • >>   liftersdown
                                    • >>   liftersStop @@ -508,16 +507,15 @@

                                    • >>   analogWrite
                                    • >>   UpRight
                                    • >>   UpLeft -
                                    • >>   TIVA1 +
                                    • >>   TIVA1
                                    • >>   Stop
                                    • >>   Serve
                                    • >>   Right
                                    • >>   Reverse -
                                    • >>   Pole5
                                    • >>   Pole4
                                    • >>   Pole2
                                    • >>   Pole1 -
                                    • >>   MotorStop +
                                    • >>   MotorStop
                                    • >>   Left
                                    • >>   Forward
                                    • >>   DownRight @@ -527,33 +525,33 @@

                                    • >>   Data

                                    -

                                    TIVA1 (Thumb, 122 bytes, Stack size 4 bytes, motorinit.o(.text)) +

                                    TIVA1 (Thumb, 122 bytes, Stack size 4 bytes, motorinit.o(.text))

                                    [Stack]

                                    • Max Depth = 4
                                    • Call Chain = TIVA1
                                    -
                                    [Calls]
                                    • >>   SysTick_Init -
                                    • >>   PortF_Init -
                                    • >>   PWME_Init -
                                    • >>   PWMD_Init -
                                    • >>   PWMC_Init -
                                    • >>   PWMB_Init -
                                    • >>   PWMA_Init -
                                    • >>   digitalWrite +
                                      [Calls]
                                      • >>   SysTick_Init +
                                      • >>   PortF_Init +
                                      • >>   PWME_Init +
                                      • >>   PWMD_Init +
                                      • >>   PWMC_Init +
                                      • >>   PWMB_Init +
                                      • >>   PWMA_Init +
                                      • >>   digitalWrite

                                      [Called By]
                                      • >>   main
                                      -

                                      init_adc_8pins (Thumb, 152 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) -

                                      [Called By]

                                      • >>   TIVA2 +

                                        init_adc_8pins (Thumb, 152 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) +

                                        [Called By]

                                        • >>   TIVA2
                                        -

                                        TIVA2 (Thumb, 88 bytes, Stack size 8 bytes, motorinit.o(.text), UNUSED) -

                                        [Calls]

                                        • >>   calibration -
                                        • >>   init_adc_8pins -
                                        • >>   PortF_Init -
                                        • >>   ADCE_Init -
                                        • >>   ADCD_Init -
                                        • >>   ADCC_Init -
                                        • >>   ADCB_Init +

                                          TIVA2 (Thumb, 88 bytes, Stack size 8 bytes, motorinit.o(.text), UNUSED) +

                                          [Calls]

                                          • >>   calibration +
                                          • >>   init_adc_8pins +
                                          • >>   PortF_Init +
                                          • >>   ADCE_Init +
                                          • >>   ADCD_Init +
                                          • >>   ADCC_Init +
                                          • >>   ADCB_Init

                                          init_adc_3pins (Thumb, 62 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED) @@ -561,10 +559,10 @@

                                          init_adc_2pins (Thumb, 72 bytes, Stack size 0 bytes, motorinit.o(.text), UNUSED)

                                          Delay1ms (Thumb, 22 bytes, Stack size 0 bytes, motorinit.o(.text)) -

                                          [Called By]

                                          • >>   Pole3 -
                                          • >>   Pole +

                                            [Called By]
                                            • >>   Pole5 +
                                            • >>   Pole3 +
                                            • >>   Pole
                                            • >>   Serve -
                                            • >>   Pole5
                                            • >>   Pole4
                                            • >>   Pole2
                                            • >>   Pole1 @@ -576,19 +574,19 @@

                                              analogWrite (Thumb, 442 bytes, Stack size 12 bytes, motorinit.o(.text))

                                              [Stack]

                                              • Max Depth = 12
                                              • Call Chain = analogWrite
                                              -
                                              [Calls]
                                              • >>   digitalWrite -
                                              -
                                              [Called By]
                                              • >>   lifter2down -
                                              • >>   lifter2up -
                                              • >>   PID_MServe_RPM -
                                              • >>   PID_ML3_REV -
                                              • >>   PID_ML3_RPM -
                                              • >>   PID_ML2_REV -
                                              • >>   PID_ML2_RPM -
                                              • >>   PID_ML1_REV -
                                              • >>   PID_ML1_RPM -
                                              • >>   serve -
                                              • >>   line +
                                                [Calls]
                                                • >>   digitalWrite +
                                                +
                                                [Called By]
                                                • >>   line +
                                                • >>   lifter2down +
                                                • >>   lifter2up +
                                                • >>   PID_MServe_RPM +
                                                • >>   PID_ML3_REV +
                                                • >>   PID_ML3_RPM +
                                                • >>   PID_ML2_REV +
                                                • >>   PID_ML2_RPM +
                                                • >>   PID_ML1_REV +
                                                • >>   PID_ML1_RPM +
                                                • >>   serve
                                                • >>   liftersup
                                                • >>   liftersdown
                                                • >>   lifter3up @@ -611,24 +609,24 @@

                                                • >>   Data

                                                -

                                                MotorStop (Thumb, 204 bytes, Stack size 8 bytes, motorinit.o(.text)) +

                                                MotorStop (Thumb, 204 bytes, Stack size 8 bytes, motorinit.o(.text))

                                                [Stack]

                                                • Max Depth = 8
                                                • Call Chain = MotorStop
                                                -
                                                [Calls]
                                                • >>   digitalWrite +
                                                  [Calls]
                                                  • >>   digitalWrite
                                                  -
                                                  [Called By]
                                                  • >>   Pole3 -
                                                  • >>   Pole -
                                                  • >>   PID_ML3_REV -
                                                  • >>   PID_ML2_REV -
                                                  • >>   PID_ML1_REV +
                                                    [Called By]
                                                    • >>   Pole5 +
                                                    • >>   Pole3 +
                                                    • >>   Pole +
                                                    • >>   line +
                                                    • >>   PID_ML3_REV +
                                                    • >>   PID_ML2_REV +
                                                    • >>   PID_ML1_REV
                                                    • >>   servestop -
                                                    • >>   line
                                                    • >>   liftersStop
                                                    • >>   UpRight
                                                    • >>   UpLeft
                                                    • >>   Stop
                                                    • >>   Serve -
                                                    • >>   Pole5
                                                    • >>   Pole4
                                                    • >>   Pole2
                                                    • >>   Pole1 @@ -645,103 +643,103 @@

                                                      SysTick_Handler (Thumb, 422 bytes, Stack size 32 bytes, encoders.o(.text))

                                                      [Stack]

                                                      • Max Depth = 64
                                                      • Call Chain = SysTick_Handler ⇒ __aeabi_dmul
                                                      -
                                                      [Calls]
                                                      • >>   __aeabi_dmul -
                                                      • >>   __aeabi_ui2d -
                                                      • >>   __aeabi_d2uiz +
                                                        [Calls]
                                                        • >>   __aeabi_dmul +
                                                        • >>   __aeabi_ui2d +
                                                        • >>   __aeabi_d2uiz

                                                        [Address Reference Count : 1]
                                                        • startup_tm4c123.o(RESET)
                                                        -

                                                        singlePoleFilter (Thumb, 144 bytes, Stack size 56 bytes, encoders.o(.text), UNUSED) -

                                                        [Calls]

                                                        • >>   __aeabi_dmul -
                                                        • >>   __aeabi_i2d -
                                                        • >>   __aeabi_dadd -
                                                        • >>   __aeabi_d2f +

                                                          singlePoleFilter (Thumb, 144 bytes, Stack size 56 bytes, encoders.o(.text), UNUSED) +

                                                          [Calls]

                                                          • >>   __aeabi_dmul +
                                                          • >>   __aeabi_i2d +
                                                          • >>   __aeabi_dadd +
                                                          • >>   __aeabi_d2f
                                                          -

                                                          Hex2Dec (Thumb, 224 bytes, Stack size 96 bytes, encoders.o(.text), UNUSED) -

                                                          [Calls]

                                                          • >>   __hardfp_pow -
                                                          • >>   __aeabi_dmul -
                                                          • >>   __aeabi_l2d -
                                                          • >>   __aeabi_i2d -
                                                          • >>   __aeabi_d2lz -
                                                          • >>   __aeabi_dadd -
                                                          • >>   strlen +

                                                            Hex2Dec (Thumb, 224 bytes, Stack size 96 bytes, encoders.o(.text), UNUSED) +

                                                            [Calls]

                                                            • >>   __hardfp_pow +
                                                            • >>   __aeabi_dmul +
                                                            • >>   __aeabi_l2d +
                                                            • >>   __aeabi_i2d +
                                                            • >>   __aeabi_d2lz +
                                                            • >>   __aeabi_dadd +
                                                            • >>   strlen
                                                            -

                                                            map (Thumb, 22 bytes, Stack size 16 bytes, pid.o(.text)) +

                                                            map (Thumb, 22 bytes, Stack size 16 bytes, pid.o(.text))

                                                            [Stack]

                                                            • Max Depth = 16
                                                            • Call Chain = map
                                                            -
                                                            [Called By]
                                                            • >>   PID_MServe_RPM -
                                                            • >>   PID_ML3_REV -
                                                            • >>   PID_ML3_RPM -
                                                            • >>   PID_ML2_REV -
                                                            • >>   PID_ML2_RPM -
                                                            • >>   PID_ML1_REV -
                                                            • >>   PID_ML1_RPM +
                                                              [Called By]
                                                              • >>   PID_MServe_RPM +
                                                              • >>   PID_ML3_REV +
                                                              • >>   PID_ML3_RPM +
                                                              • >>   PID_ML2_REV +
                                                              • >>   PID_ML2_RPM +
                                                              • >>   PID_ML1_REV +
                                                              • >>   PID_ML1_RPM
                                                              -

                                                              PID_ML1_RPM (Thumb, 272 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) -

                                                              [Calls]

                                                              • >>   map +

                                                                PID_ML1_RPM (Thumb, 272 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) +

                                                                [Calls]

                                                                • >>   map
                                                                • >>   analogWrite
                                                                -

                                                                PID_ML1_REV (Thumb, 286 bytes, Stack size 16 bytes, pid.o(.text)) +

                                                                PID_ML1_REV (Thumb, 286 bytes, Stack size 16 bytes, pid.o(.text))

                                                                [Stack]

                                                                • Max Depth = 32
                                                                • Call Chain = PID_ML1_REV ⇒ map
                                                                -
                                                                [Calls]
                                                                • >>   map +
                                                                  [Calls]
                                                                  • >>   map
                                                                  • >>   analogWrite -
                                                                  • >>   MotorStop +
                                                                  • >>   MotorStop
                                                                  -
                                                                  [Called By]
                                                                  • >>   Pole3 -
                                                                  • >>   Pole -
                                                                  • >>   Pole5 +
                                                                    [Called By]
                                                                    • >>   Pole5 +
                                                                    • >>   Pole3 +
                                                                    • >>   Pole
                                                                    • >>   Pole4
                                                                    • >>   Pole2
                                                                    • >>   Pole1
                                                                    -

                                                                    PID_ML2_RPM (Thumb, 272 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) -

                                                                    [Calls]

                                                                    • >>   map +

                                                                      PID_ML2_RPM (Thumb, 272 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) +

                                                                      [Calls]

                                                                      • >>   map
                                                                      • >>   analogWrite
                                                                      -

                                                                      PID_ML2_REV (Thumb, 380 bytes, Stack size 16 bytes, pid.o(.text)) +

                                                                      PID_ML2_REV (Thumb, 380 bytes, Stack size 16 bytes, pid.o(.text))

                                                                      [Stack]

                                                                      • Max Depth = 32
                                                                      • Call Chain = PID_ML2_REV ⇒ map
                                                                      -
                                                                      [Calls]
                                                                      • >>   map +
                                                                        [Calls]
                                                                        • >>   map
                                                                        • >>   analogWrite -
                                                                        • >>   MotorStop +
                                                                        • >>   MotorStop
                                                                        -
                                                                        [Called By]
                                                                        • >>   Pole3 -
                                                                        • >>   Pole5 +
                                                                          [Called By]
                                                                          • >>   Pole5 +
                                                                          • >>   Pole3
                                                                          • >>   Pole4
                                                                          • >>   Pole2
                                                                          • >>   Pole1
                                                                          -

                                                                          PID_ML3_RPM (Thumb, 300 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) -

                                                                          [Calls]

                                                                          • >>   map +

                                                                            PID_ML3_RPM (Thumb, 300 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) +

                                                                            [Calls]

                                                                            • >>   map
                                                                            • >>   analogWrite
                                                                            -

                                                                            PID_ML3_REV (Thumb, 314 bytes, Stack size 16 bytes, pid.o(.text)) +

                                                                            PID_ML3_REV (Thumb, 314 bytes, Stack size 16 bytes, pid.o(.text))

                                                                            [Stack]

                                                                            • Max Depth = 32
                                                                            • Call Chain = PID_ML3_REV ⇒ map
                                                                            -
                                                                            [Calls]
                                                                            • >>   map +
                                                                              [Calls]
                                                                              • >>   map
                                                                              • >>   liftersStop
                                                                              • >>   analogWrite
                                                                              • >>   ReadData -
                                                                              • >>   MotorStop +
                                                                              • >>   MotorStop
                                                                              -
                                                                              [Called By]
                                                                              • >>   Pole3 -
                                                                              • >>   Pole5 +
                                                                                [Called By]
                                                                                • >>   Pole5 +
                                                                                • >>   Pole3
                                                                                • >>   Pole4
                                                                                • >>   Pole2
                                                                                • >>   Pole1
                                                                                -

                                                                                PID_MServe_RPM (Thumb, 386 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) -

                                                                                [Calls]

                                                                                • >>   map +

                                                                                  PID_MServe_RPM (Thumb, 386 bytes, Stack size 16 bytes, pid.o(.text), UNUSED) +

                                                                                  [Calls]

                                                                                  • >>   map
                                                                                  • >>   analogWrite
                                                                                  @@ -1560,8 +1558,8 @@

                                                                                  Stop (Thumb, 68 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                  [Stack]

                                                                                  • Max Depth = 16
                                                                                  • Call Chain = Stop ⇒ MotorStop
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   digitalWrite -
                                                                                  • >>   MotorStop +
                                                                                    [Calls]
                                                                                    • >>   digitalWrite +
                                                                                    • >>   MotorStop

                                                                                    [Called By]
                                                                                    • >>   Data
                                                                                    @@ -1569,7 +1567,7 @@

                                                                                    Forward (Thumb, 84 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                    [Stack]

                                                                                    • Max Depth = 20
                                                                                    • Call Chain = Forward ⇒ analogWrite
                                                                                    -
                                                                                    [Calls]
                                                                                    • >>   digitalWrite +
                                                                                      [Calls]
                                                                                      • >>   digitalWrite
                                                                                      • >>   analogWrite

                                                                                      [Called By]
                                                                                      • >>   Data @@ -1578,7 +1576,7 @@

                                                                                        Reverse (Thumb, 84 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                        [Stack]

                                                                                        • Max Depth = 20
                                                                                        • Call Chain = Reverse ⇒ analogWrite
                                                                                        -
                                                                                        [Calls]
                                                                                        • >>   digitalWrite +
                                                                                          [Calls]
                                                                                          • >>   digitalWrite
                                                                                          • >>   analogWrite

                                                                                          [Called By]
                                                                                          • >>   Data @@ -1587,7 +1585,7 @@

                                                                                            Left (Thumb, 84 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                            [Stack]

                                                                                            • Max Depth = 20
                                                                                            • Call Chain = Left ⇒ analogWrite
                                                                                            -
                                                                                            [Calls]
                                                                                            • >>   digitalWrite +
                                                                                              [Calls]
                                                                                              • >>   digitalWrite
                                                                                              • >>   analogWrite

                                                                                              [Called By]
                                                                                              • >>   Data @@ -1596,7 +1594,7 @@

                                                                                                Right (Thumb, 84 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                [Stack]

                                                                                                • Max Depth = 20
                                                                                                • Call Chain = Right ⇒ analogWrite
                                                                                                -
                                                                                                [Calls]
                                                                                                • >>   digitalWrite +
                                                                                                  [Calls]
                                                                                                  • >>   digitalWrite
                                                                                                  • >>   analogWrite

                                                                                                  [Called By]
                                                                                                  • >>   Data @@ -1605,9 +1603,9 @@

                                                                                                    UpRight (Thumb, 76 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 20
                                                                                                    • Call Chain = UpRight ⇒ analogWrite
                                                                                                    -
                                                                                                    [Calls]
                                                                                                    • >>   digitalWrite +
                                                                                                      [Calls]
                                                                                                      • >>   digitalWrite
                                                                                                      • >>   analogWrite -
                                                                                                      • >>   MotorStop +
                                                                                                      • >>   MotorStop

                                                                                                      [Called By]
                                                                                                      • >>   Data
                                                                                                      @@ -1615,9 +1613,9 @@

                                                                                                      UpLeft (Thumb, 76 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                      [Stack]

                                                                                                      • Max Depth = 20
                                                                                                      • Call Chain = UpLeft ⇒ analogWrite
                                                                                                      -
                                                                                                      [Calls]
                                                                                                      • >>   digitalWrite +
                                                                                                        [Calls]
                                                                                                        • >>   digitalWrite
                                                                                                        • >>   analogWrite -
                                                                                                        • >>   MotorStop +
                                                                                                        • >>   MotorStop

                                                                                                        [Called By]
                                                                                                        • >>   Data
                                                                                                        @@ -1625,9 +1623,9 @@

                                                                                                        DownRight (Thumb, 76 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 20
                                                                                                        • Call Chain = DownRight ⇒ analogWrite
                                                                                                        -
                                                                                                        [Calls]
                                                                                                        • >>   digitalWrite +
                                                                                                          [Calls]
                                                                                                          • >>   digitalWrite
                                                                                                          • >>   analogWrite -
                                                                                                          • >>   MotorStop +
                                                                                                          • >>   MotorStop

                                                                                                          [Called By]
                                                                                                          • >>   Data
                                                                                                          @@ -1635,9 +1633,9 @@

                                                                                                          DownLeft (Thumb, 76 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                          [Stack]

                                                                                                          • Max Depth = 20
                                                                                                          • Call Chain = DownLeft ⇒ analogWrite
                                                                                                          -
                                                                                                          [Calls]
                                                                                                          • >>   digitalWrite +
                                                                                                            [Calls]
                                                                                                            • >>   digitalWrite
                                                                                                            • >>   analogWrite -
                                                                                                            • >>   MotorStop +
                                                                                                            • >>   MotorStop

                                                                                                            [Called By]
                                                                                                            • >>   Data
                                                                                                            @@ -1645,7 +1643,7 @@

                                                                                                            ClockWise (Thumb, 84 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                            [Stack]

                                                                                                            • Max Depth = 20
                                                                                                            • Call Chain = ClockWise ⇒ analogWrite
                                                                                                            -
                                                                                                            [Calls]
                                                                                                            • >>   digitalWrite +
                                                                                                              [Calls]
                                                                                                              • >>   digitalWrite
                                                                                                              • >>   analogWrite

                                                                                                              [Called By]
                                                                                                              • >>   Data @@ -1654,7 +1652,7 @@

                                                                                                                CounterClockWise (Thumb, 84 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                [Stack]

                                                                                                                • Max Depth = 20
                                                                                                                • Call Chain = CounterClockWise ⇒ analogWrite
                                                                                                                -
                                                                                                                [Calls]
                                                                                                                • >>   digitalWrite +
                                                                                                                  [Calls]
                                                                                                                  • >>   digitalWrite
                                                                                                                  • >>   analogWrite

                                                                                                                  [Called By]
                                                                                                                  • >>   Data @@ -1663,7 +1661,7 @@

                                                                                                                    lifter1up (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                    [Stack]

                                                                                                                    • Max Depth = 20
                                                                                                                    • Call Chain = lifter1up ⇒ analogWrite
                                                                                                                    -
                                                                                                                    [Calls]
                                                                                                                    • >>   digitalWrite +
                                                                                                                      [Calls]
                                                                                                                      • >>   digitalWrite
                                                                                                                      • >>   analogWrite

                                                                                                                      [Called By]
                                                                                                                      • >>   Data @@ -1672,26 +1670,26 @@

                                                                                                                        lifter1down (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                        [Stack]

                                                                                                                        • Max Depth = 20
                                                                                                                        • Call Chain = lifter1down ⇒ analogWrite
                                                                                                                        -
                                                                                                                        [Calls]
                                                                                                                        • >>   digitalWrite +
                                                                                                                          [Calls]
                                                                                                                          • >>   digitalWrite
                                                                                                                          • >>   analogWrite

                                                                                                                          [Called By]
                                                                                                                          • >>   Data
                                                                                                                          -

                                                                                                                          lifter2up (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text), UNUSED) -

                                                                                                                          [Calls]

                                                                                                                          • >>   digitalWrite +

                                                                                                                            lifter2up (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text), UNUSED) +

                                                                                                                            [Calls]

                                                                                                                            • >>   digitalWrite
                                                                                                                            • >>   analogWrite
                                                                                                                            -

                                                                                                                            lifter2down (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text), UNUSED) -

                                                                                                                            [Calls]

                                                                                                                            • >>   digitalWrite +

                                                                                                                              lifter2down (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text), UNUSED) +

                                                                                                                              [Calls]

                                                                                                                              • >>   digitalWrite
                                                                                                                              • >>   analogWrite

                                                                                                                              lifter12up (Thumb, 88 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                              [Stack]

                                                                                                                              • Max Depth = 20
                                                                                                                              • Call Chain = lifter12up ⇒ analogWrite
                                                                                                                              -
                                                                                                                              [Calls]
                                                                                                                              • >>   digitalWrite +
                                                                                                                                [Calls]
                                                                                                                                • >>   digitalWrite
                                                                                                                                • >>   analogWrite

                                                                                                                                [Called By]
                                                                                                                                • >>   Data @@ -1700,7 +1698,7 @@

                                                                                                                                  lifter12down (Thumb, 44 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                  [Stack]

                                                                                                                                  • Max Depth = 20
                                                                                                                                  • Call Chain = lifter12down ⇒ analogWrite
                                                                                                                                  -
                                                                                                                                  [Calls]
                                                                                                                                  • >>   digitalWrite +
                                                                                                                                    [Calls]
                                                                                                                                    • >>   digitalWrite
                                                                                                                                    • >>   analogWrite

                                                                                                                                    [Called By]
                                                                                                                                    • >>   Data @@ -1709,7 +1707,7 @@

                                                                                                                                      lifter3up (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                      [Stack]

                                                                                                                                      • Max Depth = 20
                                                                                                                                      • Call Chain = lifter3up ⇒ analogWrite
                                                                                                                                      -
                                                                                                                                      [Calls]
                                                                                                                                      • >>   digitalWrite +
                                                                                                                                        [Calls]
                                                                                                                                        • >>   digitalWrite
                                                                                                                                        • >>   analogWrite

                                                                                                                                        [Called By]
                                                                                                                                        • >>   Data @@ -1718,7 +1716,7 @@

                                                                                                                                          lifter3down (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                          [Stack]

                                                                                                                                          • Max Depth = 20
                                                                                                                                          • Call Chain = lifter3down ⇒ analogWrite
                                                                                                                                          -
                                                                                                                                          [Calls]
                                                                                                                                          • >>   digitalWrite +
                                                                                                                                            [Calls]
                                                                                                                                            • >>   digitalWrite
                                                                                                                                            • >>   analogWrite

                                                                                                                                            [Called By]
                                                                                                                                            • >>   Data @@ -1727,7 +1725,7 @@

                                                                                                                                              liftersup (Thumb, 64 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                              [Stack]

                                                                                                                                              • Max Depth = 20
                                                                                                                                              • Call Chain = liftersup ⇒ analogWrite
                                                                                                                                              -
                                                                                                                                              [Calls]
                                                                                                                                              • >>   digitalWrite +
                                                                                                                                                [Calls]
                                                                                                                                                • >>   digitalWrite
                                                                                                                                                • >>   analogWrite

                                                                                                                                                [Called By]
                                                                                                                                                • >>   Data @@ -1736,7 +1734,7 @@

                                                                                                                                                  liftersdown (Thumb, 64 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                                  [Stack]

                                                                                                                                                  • Max Depth = 20
                                                                                                                                                  • Call Chain = liftersdown ⇒ analogWrite
                                                                                                                                                  -
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   digitalWrite +
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   digitalWrite
                                                                                                                                                    • >>   analogWrite

                                                                                                                                                    [Called By]
                                                                                                                                                    • >>   Data @@ -1745,23 +1743,23 @@

                                                                                                                                                      liftersStop (Thumb, 52 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                                      [Stack]

                                                                                                                                                      • Max Depth = 16
                                                                                                                                                      • Call Chain = liftersStop ⇒ MotorStop
                                                                                                                                                      -
                                                                                                                                                      [Calls]
                                                                                                                                                      • >>   digitalWrite -
                                                                                                                                                      • >>   MotorStop +
                                                                                                                                                        [Calls]
                                                                                                                                                        • >>   digitalWrite +
                                                                                                                                                        • >>   MotorStop
                                                                                                                                                        -
                                                                                                                                                        [Called By]
                                                                                                                                                        • >>   Pole3 -
                                                                                                                                                        • >>   Pole -
                                                                                                                                                        • >>   PID_ML3_REV -
                                                                                                                                                        • >>   Pole5 +
                                                                                                                                                          [Called By]
                                                                                                                                                          • >>   Pole5 +
                                                                                                                                                          • >>   Pole3 +
                                                                                                                                                          • >>   Pole +
                                                                                                                                                          • >>   PID_ML3_REV
                                                                                                                                                          • >>   Pole4
                                                                                                                                                          • >>   Pole2
                                                                                                                                                          • >>   Pole1
                                                                                                                                                          • >>   Data
                                                                                                                                                          -

                                                                                                                                                          serve (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text)) +

                                                                                                                                                          serve (Thumb, 24 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                                          [Stack]

                                                                                                                                                          • Max Depth = 20
                                                                                                                                                          • Call Chain = serve ⇒ analogWrite
                                                                                                                                                          -
                                                                                                                                                          [Calls]
                                                                                                                                                          • >>   digitalWrite +
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   digitalWrite
                                                                                                                                                            • >>   analogWrite

                                                                                                                                                            [Called By]
                                                                                                                                                            • >>   Data @@ -1770,7 +1768,7 @@

                                                                                                                                                              servestop (Thumb, 10 bytes, Stack size 8 bytes, motion.o(.text))

                                                                                                                                                              [Stack]

                                                                                                                                                              • Max Depth = 16
                                                                                                                                                              • Call Chain = servestop ⇒ MotorStop
                                                                                                                                                              -
                                                                                                                                                              [Calls]
                                                                                                                                                              • >>   MotorStop +
                                                                                                                                                                [Calls]
                                                                                                                                                                • >>   MotorStop

                                                                                                                                                                [Called By]
                                                                                                                                                                • >>   Data
                                                                                                                                                                @@ -1781,12 +1779,12 @@

                                                                                                                                                                SSIDisable (Thumb, 10 bytes, Stack size 0 bytes, ssi.o(.text), UNUSED) -

                                                                                                                                                                SSIIntRegister (Thumb, 16 bytes, Stack size 16 bytes, ssi.o(.text), UNUSED) -

                                                                                                                                                                [Calls]

                                                                                                                                                                • >>   _SSIIntNumberGet +

                                                                                                                                                                  SSIIntRegister (Thumb, 16 bytes, Stack size 16 bytes, ssi.o(.text), UNUSED) +

                                                                                                                                                                  [Calls]

                                                                                                                                                                  • >>   _SSIIntNumberGet
                                                                                                                                                                  -

                                                                                                                                                                  SSIIntUnregister (Thumb, 14 bytes, Stack size 16 bytes, ssi.o(.text), UNUSED) -

                                                                                                                                                                  [Calls]

                                                                                                                                                                  • >>   _SSIIntNumberGet +

                                                                                                                                                                    SSIIntUnregister (Thumb, 14 bytes, Stack size 16 bytes, ssi.o(.text), UNUSED) +

                                                                                                                                                                    [Calls]

                                                                                                                                                                    • >>   _SSIIntNumberGet

                                                                                                                                                                    SSIIntEnable (Thumb, 8 bytes, Stack size 0 bytes, ssi.o(.text), UNUSED) @@ -1801,7 +1799,7 @@

                                                                                                                                                                    SSIDataPutNonBlocking (Thumb, 20 bytes, Stack size 0 bytes, ssi.o(.text), UNUSED) -

                                                                                                                                                                    SSIDataGet (Thumb, 16 bytes, Stack size 0 bytes, ssi.o(.text)) +

                                                                                                                                                                    SSIDataGet (Thumb, 16 bytes, Stack size 0 bytes, ssi.o(.text))

                                                                                                                                                                    [Called By]

                                                                                                                                                                    • >>   ReadData
                                                                                                                                                                    @@ -1830,11 +1828,12 @@

                                                                                                                                                                    ReadData (Thumb, 336 bytes, Stack size 8 bytes, spi.o(.text))

                                                                                                                                                                    [Stack]

                                                                                                                                                                    • Max Depth = 8
                                                                                                                                                                    • Call Chain = ReadData
                                                                                                                                                                    -
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   SSIDataGet +
                                                                                                                                                                      [Calls]
                                                                                                                                                                      • >>   SSIDataGet
                                                                                                                                                                      -
                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   Pole3 -
                                                                                                                                                                      • >>   PID_ML3_REV -
                                                                                                                                                                      • >>   Pole5 +
                                                                                                                                                                        [Called By]
                                                                                                                                                                        • >>   Pole5 +
                                                                                                                                                                        • >>   Pole3 +
                                                                                                                                                                        • >>   PID_ML3_REV +
                                                                                                                                                                        • >>   Serve
                                                                                                                                                                        • >>   Pole4
                                                                                                                                                                        • >>   Pole2
                                                                                                                                                                        • >>   Pole1 @@ -1843,69 +1842,64 @@

                                                                                                                                                                          data_get_ss1 (Thumb, 52 bytes, Stack size 8 bytes, adc.o(.text), UNUSED) -

                                                                                                                                                                          data_get_ss0 (Thumb, 52 bytes, Stack size 8 bytes, adc.o(.text)) -

                                                                                                                                                                          [Stack]

                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                          • Call Chain = data_get_ss0 -
                                                                                                                                                                          -
                                                                                                                                                                          [Called By]
                                                                                                                                                                          • >>   VerticalLines -
                                                                                                                                                                          • >>   calibration -
                                                                                                                                                                          • >>   line +

                                                                                                                                                                            data_get_ss0 (Thumb, 52 bytes, Stack size 8 bytes, adc.o(.text), UNUSED) +

                                                                                                                                                                            [Called By]

                                                                                                                                                                            • >>   VerticalLines +
                                                                                                                                                                            • >>   line +
                                                                                                                                                                            • >>   calibration
                                                                                                                                                                            -

                                                                                                                                                                            calibration (Thumb, 164 bytes, Stack size 12 bytes, adc.o(.text), UNUSED) -

                                                                                                                                                                            [Calls]

                                                                                                                                                                            • >>   data_get_ss0 +

                                                                                                                                                                              calibration (Thumb, 164 bytes, Stack size 12 bytes, adc.o(.text), UNUSED) +

                                                                                                                                                                              [Calls]

                                                                                                                                                                              • >>   data_get_ss0
                                                                                                                                                                              -
                                                                                                                                                                              [Called By]
                                                                                                                                                                              • >>   TIVA2 +
                                                                                                                                                                                [Called By]
                                                                                                                                                                                • >>   TIVA2
                                                                                                                                                                                -

                                                                                                                                                                                digital_reads (Thumb, 306 bytes, Stack size 0 bytes, adc.o(.text)) -

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   line +

                                                                                                                                                                                  digital_reads (Thumb, 306 bytes, Stack size 0 bytes, adc.o(.text), UNUSED) +

                                                                                                                                                                                  [Called By]

                                                                                                                                                                                  • >>   line
                                                                                                                                                                                  -

                                                                                                                                                                                  line (Thumb, 2390 bytes, Stack size 8 bytes, adc.o(.text)) -

                                                                                                                                                                                  [Stack]

                                                                                                                                                                                  • Max Depth = 20
                                                                                                                                                                                  • Call Chain = line ⇒ analogWrite -
                                                                                                                                                                                  -
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   digital_reads -
                                                                                                                                                                                  • >>   data_get_ss0 -
                                                                                                                                                                                  • >>   digitalWrite +

                                                                                                                                                                                    line (Thumb, 2390 bytes, Stack size 8 bytes, adc.o(.text), UNUSED) +

                                                                                                                                                                                    [Calls]

                                                                                                                                                                                    • >>   digital_reads +
                                                                                                                                                                                    • >>   data_get_ss0 +
                                                                                                                                                                                    • >>   digitalWrite
                                                                                                                                                                                    • >>   analogWrite -
                                                                                                                                                                                    • >>   MotorStop -
                                                                                                                                                                                    -
                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   Data +
                                                                                                                                                                                    • >>   MotorStop
                                                                                                                                                                                    -

                                                                                                                                                                                    VerticalLines (Thumb, 86 bytes, Stack size 8 bytes, adc.o(.text), UNUSED) -

                                                                                                                                                                                    [Calls]

                                                                                                                                                                                    • >>   data_get_ss0 +

                                                                                                                                                                                      VerticalLines (Thumb, 86 bytes, Stack size 8 bytes, adc.o(.text), UNUSED) +

                                                                                                                                                                                      [Calls]

                                                                                                                                                                                      • >>   data_get_ss0
                                                                                                                                                                                      -

                                                                                                                                                                                      Serve (Thumb, 274 bytes, Stack size 8 bytes, serve.o(.text)) +

                                                                                                                                                                                      Serve (Thumb, 208 bytes, Stack size 8 bytes, serve.o(.text))

                                                                                                                                                                                      [Stack]

                                                                                                                                                                                      • Max Depth = 20
                                                                                                                                                                                      • Call Chain = Serve ⇒ analogWrite
                                                                                                                                                                                      -
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   digitalWrite +
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   digitalWrite
                                                                                                                                                                                        • >>   analogWrite -
                                                                                                                                                                                        • >>   MotorStop +
                                                                                                                                                                                        • >>   ReadData +
                                                                                                                                                                                        • >>   MotorStop
                                                                                                                                                                                        • >>   Delay1ms

                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   Data
                                                                                                                                                                                        -

                                                                                                                                                                                        Pole (Thumb, 122 bytes, Stack size 8 bytes, poles.o(.text), UNUSED) -

                                                                                                                                                                                        [Calls]

                                                                                                                                                                                        • >>   PID_ML1_REV +

                                                                                                                                                                                          Pole (Thumb, 122 bytes, Stack size 8 bytes, poles.o(.text), UNUSED) +

                                                                                                                                                                                          [Calls]

                                                                                                                                                                                          • >>   PID_ML1_REV
                                                                                                                                                                                          • >>   liftersStop -
                                                                                                                                                                                          • >>   digitalWrite -
                                                                                                                                                                                          • >>   MotorStop +
                                                                                                                                                                                          • >>   digitalWrite +
                                                                                                                                                                                          • >>   MotorStop
                                                                                                                                                                                          • >>   Delay1ms

                                                                                                                                                                                          Pole1 (Thumb, 348 bytes, Stack size 24 bytes, poles.o(.text))

                                                                                                                                                                                          [Stack]

                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                          • Call Chain = Pole1 ⇒ PID_ML3_REV ⇒ map
                                                                                                                                                                                          -
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   PID_ML3_REV -
                                                                                                                                                                                          • >>   PID_ML2_REV -
                                                                                                                                                                                          • >>   PID_ML1_REV +
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   PID_ML3_REV +
                                                                                                                                                                                            • >>   PID_ML2_REV +
                                                                                                                                                                                            • >>   PID_ML1_REV
                                                                                                                                                                                            • >>   liftersStop -
                                                                                                                                                                                            • >>   digitalWrite +
                                                                                                                                                                                            • >>   digitalWrite
                                                                                                                                                                                            • >>   ReadData -
                                                                                                                                                                                            • >>   MotorStop +
                                                                                                                                                                                            • >>   MotorStop
                                                                                                                                                                                            • >>   Delay1ms

                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   Data @@ -1914,61 +1908,57 @@

                                                                                                                                                                                              Pole2 (Thumb, 348 bytes, Stack size 24 bytes, poles.o(.text))

                                                                                                                                                                                              [Stack]

                                                                                                                                                                                              • Max Depth = 56
                                                                                                                                                                                              • Call Chain = Pole2 ⇒ PID_ML3_REV ⇒ map
                                                                                                                                                                                              -
                                                                                                                                                                                              [Calls]
                                                                                                                                                                                              • >>   PID_ML3_REV -
                                                                                                                                                                                              • >>   PID_ML2_REV -
                                                                                                                                                                                              • >>   PID_ML1_REV +
                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                • >>   PID_ML3_REV +
                                                                                                                                                                                                • >>   PID_ML2_REV +
                                                                                                                                                                                                • >>   PID_ML1_REV
                                                                                                                                                                                                • >>   liftersStop -
                                                                                                                                                                                                • >>   digitalWrite +
                                                                                                                                                                                                • >>   digitalWrite
                                                                                                                                                                                                • >>   ReadData -
                                                                                                                                                                                                • >>   MotorStop +
                                                                                                                                                                                                • >>   MotorStop
                                                                                                                                                                                                • >>   Delay1ms

                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                • >>   Data
                                                                                                                                                                                                -

                                                                                                                                                                                                Pole3 (Thumb, 398 bytes, Stack size 24 bytes, poles.o(.text), UNUSED) -

                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                • >>   PID_ML3_REV -
                                                                                                                                                                                                • >>   PID_ML2_REV -
                                                                                                                                                                                                • >>   PID_ML1_REV +

                                                                                                                                                                                                  Pole3 (Thumb, 398 bytes, Stack size 24 bytes, poles.o(.text), UNUSED) +

                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                  • >>   PID_ML3_REV +
                                                                                                                                                                                                  • >>   PID_ML2_REV +
                                                                                                                                                                                                  • >>   PID_ML1_REV
                                                                                                                                                                                                  • >>   liftersStop -
                                                                                                                                                                                                  • >>   digitalWrite +
                                                                                                                                                                                                  • >>   digitalWrite
                                                                                                                                                                                                  • >>   ReadData -
                                                                                                                                                                                                  • >>   MotorStop +
                                                                                                                                                                                                  • >>   MotorStop
                                                                                                                                                                                                  • >>   Delay1ms

                                                                                                                                                                                                  Pole4 (Thumb, 348 bytes, Stack size 24 bytes, poles.o(.text))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 56
                                                                                                                                                                                                  • Call Chain = Pole4 ⇒ PID_ML3_REV ⇒ map
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                  • >>   PID_ML3_REV -
                                                                                                                                                                                                  • >>   PID_ML2_REV -
                                                                                                                                                                                                  • >>   PID_ML1_REV +
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   PID_ML3_REV +
                                                                                                                                                                                                    • >>   PID_ML2_REV +
                                                                                                                                                                                                    • >>   PID_ML1_REV
                                                                                                                                                                                                    • >>   liftersStop -
                                                                                                                                                                                                    • >>   digitalWrite +
                                                                                                                                                                                                    • >>   digitalWrite
                                                                                                                                                                                                    • >>   ReadData -
                                                                                                                                                                                                    • >>   MotorStop +
                                                                                                                                                                                                    • >>   MotorStop
                                                                                                                                                                                                    • >>   Delay1ms

                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                    • >>   Data
                                                                                                                                                                                                    -

                                                                                                                                                                                                    Pole5 (Thumb, 348 bytes, Stack size 24 bytes, poles.o(.text)) -

                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                    • Max Depth = 56
                                                                                                                                                                                                    • Call Chain = Pole5 ⇒ PID_ML3_REV ⇒ map -
                                                                                                                                                                                                    -
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   PID_ML3_REV -
                                                                                                                                                                                                    • >>   PID_ML2_REV -
                                                                                                                                                                                                    • >>   PID_ML1_REV +

                                                                                                                                                                                                      Pole5 (Thumb, 348 bytes, Stack size 24 bytes, poles.o(.text), UNUSED) +

                                                                                                                                                                                                      [Calls]

                                                                                                                                                                                                      • >>   PID_ML3_REV +
                                                                                                                                                                                                      • >>   PID_ML2_REV +
                                                                                                                                                                                                      • >>   PID_ML1_REV
                                                                                                                                                                                                      • >>   liftersStop -
                                                                                                                                                                                                      • >>   digitalWrite +
                                                                                                                                                                                                      • >>   digitalWrite
                                                                                                                                                                                                      • >>   ReadData -
                                                                                                                                                                                                      • >>   MotorStop +
                                                                                                                                                                                                      • >>   MotorStop
                                                                                                                                                                                                      • >>   Delay1ms
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   Data -
                                                                                                                                                                                                      -

                                                                                                                                                                                                      strlen (Thumb, 62 bytes, Stack size 8 bytes, strlen.o(.text), UNUSED) -

                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                      • >>   Hex2Dec +

                                                                                                                                                                                                        strlen (Thumb, 62 bytes, Stack size 8 bytes, strlen.o(.text), UNUSED) +

                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                        • >>   Hex2Dec

                                                                                                                                                                                                        __use_two_region_memory (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED) @@ -1984,7 +1974,7 @@

                                                                                                                                                                                                        __set_errno (Thumb, 12 bytes, Stack size 8 bytes, _rserrno.o(.text), UNUSED)

                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                        • >>   __aeabi_errno_addr
                                                                                                                                                                                                        -
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   __hardfp_pow +
                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                          • >>   __hardfp_pow
                                                                                                                                                                                                          • >>   sqrt
                                                                                                                                                                                                          @@ -2030,20 +2020,20 @@

                                                                                                                                                                                                          __use_no_semihosting_swi (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)

                                                                                                                                                                                                          __ARM_fpclassify (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify), UNUSED) -

                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                          • >>   __hardfp_pow +

                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   __hardfp_pow

                                                                                                                                                                                                            __semihosting_library_function (Thumb, 0 bytes, Stack size 8 bytes, indicate_semi.o(.text), UNUSED) -

                                                                                                                                                                                                            __hardfp_pow (Thumb, 3132 bytes, Stack size 184 bytes, pow.o(i.__hardfp_pow), UNUSED) +

                                                                                                                                                                                                            __hardfp_pow (Thumb, 3132 bytes, Stack size 184 bytes, pow.o(i.__hardfp_pow), UNUSED)

                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                            • >>   __aeabi_ddiv
                                                                                                                                                                                                            • >>   __aeabi_dneg
                                                                                                                                                                                                            • >>   __set_errno -
                                                                                                                                                                                                            • >>   __aeabi_dmul -
                                                                                                                                                                                                            • >>   __aeabi_i2d +
                                                                                                                                                                                                            • >>   __aeabi_dmul +
                                                                                                                                                                                                            • >>   __aeabi_i2d
                                                                                                                                                                                                            • >>   __aeabi_dsub
                                                                                                                                                                                                            • >>   __aeabi_drsub -
                                                                                                                                                                                                            • >>   __aeabi_dadd +
                                                                                                                                                                                                            • >>   __aeabi_dadd
                                                                                                                                                                                                            • >>   sqrt
                                                                                                                                                                                                            • >>   __kernel_poly
                                                                                                                                                                                                            • >>   __ARM_fpclassify @@ -2052,35 +2042,35 @@

                                                                                                                                                                                                            • >>   __ARM_scalbn
                                                                                                                                                                                                            • >>   __aeabi_cdrcmple

                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   Hex2Dec +
                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   Hex2Dec

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

                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                              • >>   __aeabi_dmul -
                                                                                                                                                                                                              • >>   __aeabi_dadd +

                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   __aeabi_dmul +
                                                                                                                                                                                                                • >>   __aeabi_dadd
                                                                                                                                                                                                                -
                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   __hardfp_pow +
                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   __hardfp_pow

                                                                                                                                                                                                                  __mathlib_dbl_underflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow), UNUSED) -

                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                  • >>   __aeabi_dmul +

                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   __aeabi_dmul
                                                                                                                                                                                                                    -
                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                    • >>   __hardfp_pow +
                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                      • >>   __hardfp_pow

                                                                                                                                                                                                                      fabs (Thumb, 32 bytes, Stack size 8 bytes, fabs.o(i.fabs), UNUSED) -

                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                      • >>   __hardfp_pow +

                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   __hardfp_pow

                                                                                                                                                                                                                        sqrt (Thumb, 110 bytes, Stack size 32 bytes, sqrt.o(i.sqrt), UNUSED)

                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                        • >>   __set_errno
                                                                                                                                                                                                                        • >>   _dsqrt
                                                                                                                                                                                                                        -
                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   __hardfp_pow +
                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   __hardfp_pow

                                                                                                                                                                                                                          __aeabi_dneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) -

                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                          • >>   __hardfp_pow +

                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   __hardfp_pow

                                                                                                                                                                                                                            _dneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) @@ -2093,8 +2083,8 @@

                                                                                                                                                                                                                            _fabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED) -

                                                                                                                                                                                                                            __aeabi_d2f (Thumb, 0 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED) -

                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                            • >>   singlePoleFilter +

                                                                                                                                                                                                                              __aeabi_d2f (Thumb, 0 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED) +

                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                              • >>   singlePoleFilter

                                                                                                                                                                                                                              _d2f (Thumb, 98 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED) @@ -2102,17 +2092,17 @@

                                                                                                                                                                                                                            • >>   __fpl_fretinf

                                                                                                                                                                                                                            -

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

                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                            • >>   __hardfp_pow -
                                                                                                                                                                                                                            • >>   Hex2Dec -
                                                                                                                                                                                                                            • >>   singlePoleFilter +

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

                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                              • >>   __hardfp_pow +
                                                                                                                                                                                                                              • >>   Hex2Dec +
                                                                                                                                                                                                                              • >>   singlePoleFilter
                                                                                                                                                                                                                              • >>   __kernel_poly

                                                                                                                                                                                                                              _dadd (Thumb, 332 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) -

                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                              • >>   __fpl_dnaninf +

                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   __fpl_dretinf +
                                                                                                                                                                                                                                • >>   __fpl_dnaninf
                                                                                                                                                                                                                                • >>   _dsub1 -
                                                                                                                                                                                                                                • >>   __fpl_dretinf

                                                                                                                                                                                                                                __fpl_dcheck_NaN1 (Thumb, 10 bytes, Stack size 0 bytes, dcheck1.o(x$fpl$dcheck1), UNUSED) @@ -2126,15 +2116,15 @@

                                                                                                                                                                                                                              __aeabi_ddiv (Thumb, 0 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED) -

                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                              • >>   __hardfp_pow +

                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   __hardfp_pow

                                                                                                                                                                                                                                _ddiv (Thumb, 552 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED) -

                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                • >>   __fpl_dnaninf -
                                                                                                                                                                                                                                • >>   __fpl_dretinf +

                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   __fpl_dretinf +
                                                                                                                                                                                                                                  • >>   __fpl_dnaninf
                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                  __aeabi_d2uiz (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu)) +

                                                                                                                                                                                                                                  __aeabi_d2uiz (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu))

                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                  • Max Depth = 32
                                                                                                                                                                                                                                  • Call Chain = __aeabi_d2uiz

                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   SysTick_Handler @@ -2144,21 +2134,21 @@



                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   __fpl_dnaninf
                                                                                                                                                                                                                                    -

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

                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                    • >>   __hardfp_pow -
                                                                                                                                                                                                                                    • >>   Hex2Dec -
                                                                                                                                                                                                                                    • >>   singlePoleFilter +

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

                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                      • >>   __hardfp_pow +
                                                                                                                                                                                                                                      • >>   Hex2Dec +
                                                                                                                                                                                                                                      • >>   singlePoleFilter

                                                                                                                                                                                                                                      _dflt (Thumb, 46 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt), UNUSED) -

                                                                                                                                                                                                                                      __aeabi_l2d (Thumb, 0 bytes, Stack size 8 bytes, dfltll_clz.o(x$fpl$dfltll), UNUSED) -

                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                      • >>   Hex2Dec +

                                                                                                                                                                                                                                        __aeabi_l2d (Thumb, 0 bytes, Stack size 8 bytes, dfltll_clz.o(x$fpl$dfltll), UNUSED) +

                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                        • >>   Hex2Dec

                                                                                                                                                                                                                                        _ll_sto_d (Thumb, 162 bytes, Stack size 8 bytes, dfltll_clz.o(x$fpl$dfltll), UNUSED) -

                                                                                                                                                                                                                                        __aeabi_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu)) +

                                                                                                                                                                                                                                        __aeabi_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu))

                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                        • >>   SysTick_Handler
                                                                                                                                                                                                                                        @@ -2175,20 +2165,20 @@



                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   _drcmple
                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                        __aeabi_dmul (Thumb, 0 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul)) +

                                                                                                                                                                                                                                        __aeabi_dmul (Thumb, 0 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul))

                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                        • Max Depth = 32
                                                                                                                                                                                                                                        • Call Chain = __aeabi_dmul
                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                        • >>   __hardfp_pow -
                                                                                                                                                                                                                                        • >>   Hex2Dec -
                                                                                                                                                                                                                                        • >>   singlePoleFilter +
                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                          • >>   __hardfp_pow +
                                                                                                                                                                                                                                          • >>   Hex2Dec +
                                                                                                                                                                                                                                          • >>   singlePoleFilter
                                                                                                                                                                                                                                          • >>   SysTick_Handler
                                                                                                                                                                                                                                          • >>   __kernel_poly
                                                                                                                                                                                                                                          • >>   __mathlib_dbl_underflow

                                                                                                                                                                                                                                          _dmul (Thumb, 332 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul), UNUSED) -

                                                                                                                                                                                                                                          [Calls]

                                                                                                                                                                                                                                          • >>   __fpl_dnaninf -
                                                                                                                                                                                                                                          • >>   __fpl_dretinf +

                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   __fpl_dretinf +
                                                                                                                                                                                                                                            • >>   __fpl_dnaninf

                                                                                                                                                                                                                                            __fpl_dnaninf (Thumb, 156 bytes, Stack size 16 bytes, dnaninf.o(x$fpl$dnaninf), UNUSED) @@ -2210,7 +2200,7 @@

                                                                                                                                                                                                                                          __aeabi_cdrcmple (Thumb, 0 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf), UNUSED) -

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_pow +

                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   __hardfp_pow

                                                                                                                                                                                                                                            _drcmple (Thumb, 108 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf), UNUSED) @@ -2218,7 +2208,7 @@

                                                                                                                                                                                                                                          __aeabi_drsub (Thumb, 0 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb), UNUSED) -

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_pow +

                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   __hardfp_pow

                                                                                                                                                                                                                                            _drsb (Thumb, 22 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb), UNUSED) @@ -2233,7 +2223,7 @@

                                                                                                                                                                                                                                          __aeabi_dsub (Thumb, 0 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) -

                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                          • >>   __hardfp_pow +

                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   __hardfp_pow

                                                                                                                                                                                                                                            _dsub (Thumb, 464 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub), UNUSED) @@ -2253,8 +2243,8 @@



                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                            • >>   _d2f
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            __aeabi_d2lz (Thumb, 0 bytes, Stack size 32 bytes, dfixll.o(x$fpl$llsfromd), UNUSED) -

                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                            • >>   Hex2Dec +

                                                                                                                                                                                                                                              __aeabi_d2lz (Thumb, 0 bytes, Stack size 32 bytes, dfixll.o(x$fpl$llsfromd), UNUSED) +

                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                              • >>   Hex2Dec

                                                                                                                                                                                                                                              _ll_sfrom_d (Thumb, 194 bytes, Stack size 32 bytes, dfixll.o(x$fpl$llsfromd), UNUSED) @@ -2270,7 +2260,7 @@

                                                                                                                                                                                                                                              __ARM_scalbn (Thumb, 92 bytes, Stack size 0 bytes, scalbn.o(x$fpl$scalbn), UNUSED)

                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                              • >>   __fpl_dcheck_NaN1
                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   __hardfp_pow +
                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                • >>   __hardfp_pow

                                                                                                                                                                                                                                                __fpl_cmpreturn (Thumb, 48 bytes, Stack size 0 bytes, trapv.o(x$fpl$trapveneer), UNUSED) @@ -2280,9 +2270,9 @@

                                                                                                                                                                                                                                                Local Symbols

                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                _SSIIntNumberGet (Thumb, 56 bytes, Stack size 12 bytes, ssi.o(.text), UNUSED) -

                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                • >>   SSIIntUnregister -
                                                                                                                                                                                                                                                • >>   SSIIntRegister +

                                                                                                                                                                                                                                                  _SSIIntNumberGet (Thumb, 56 bytes, Stack size 12 bytes, ssi.o(.text), UNUSED) +

                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                  • >>   SSIIntUnregister +
                                                                                                                                                                                                                                                  • >>   SSIIntRegister

                                                                                                                                                                                                                                                  _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED) diff --git a/Robot 1 tiva/trial pwm functions.lnp b/Pirates Robocon 2017/trial pwm functions.lnp similarity index 100% rename from Robot 1 tiva/trial pwm functions.lnp rename to Pirates Robocon 2017/trial pwm functions.lnp diff --git a/Robot 1 tiva/trial pwm functions.map b/Pirates Robocon 2017/trial pwm functions.map similarity index 69% rename from Robot 1 tiva/trial pwm functions.map rename to Pirates Robocon 2017/trial pwm functions.map index 859ae05..3dcde47 100644 --- a/Robot 1 tiva/trial pwm functions.map +++ b/Pirates Robocon 2017/trial pwm functions.map @@ -9,7 +9,6 @@ Section Cross References main.o(.text) refers to motorinit.o(.text) for analogWrite main.o(.text) refers to serve.o(.text) for Serve main.o(.text) refers to poles.o(.text) for Pole1 - main.o(.text) refers to adc.o(.text) for line main.o(.text) refers to spi.o(.data) for stop main.o(.text) refers to main.o(.data) for a main.o(.text) refers to motorinit.o(.data) for HIGH @@ -55,7 +54,7 @@ Section Cross References adc.o(.text) refers to adc.o(.data) for V1 adc.o(.text) refers to motorinit.o(.data) for LOW serve.o(.text) refers to motorinit.o(.text) for digitalWrite - serve.o(.text) refers to serve.o(.data) for State + serve.o(.text) refers to spi.o(.text) for ReadData serve.o(.text) refers to motorinit.o(.data) for LOW poles.o(.text) refers to motorinit.o(.text) for digitalWrite poles.o(.text) refers to pid.o(.text) for PID_ML1_REV @@ -303,9 +302,10 @@ Section Cross References Removing Unused input sections from the image. Removing uart.o(.text), (44 bytes). - Removing fence.o(.text), (152 bytes). + Removing serve.o(.data), (20 bytes). + Removing fence.o(.text), (296 bytes). -2 unused section(s) (total 196 bytes) removed from the image. +3 unused section(s) (total 360 bytes) removed from the image. ============================================================================== @@ -316,54 +316,54 @@ Image Symbol Table Symbol Name Value Ov Type Size Object(Section) RESET 0x00000000 Section 620 startup_tm4c123.o(RESET) + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit1.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE - ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit1.o ABSOLUTE ../clib/angel/dczerorl2.s 0x00000000 Number 0 __dczerorl2.o ABSOLUTE ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE - ../clib/angel/kernel.s 0x00000000 Number 0 rtexit2.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 rtentry2.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 rtexit.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 rtexit2.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 rtentry4.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 rtentry.o ABSOLUTE ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr_intlibspace.o ABSOLUTE - ../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE ../clib/angel/scatter.s 0x00000000 Number 0 __scatter.o ABSOLUTE ../clib/angel/startup.s 0x00000000 Number 0 __main.o ABSOLUTE - ../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE - ../clib/angel/sys.s 0x00000000 Number 0 use_no_semi.o ABSOLUTE ../clib/angel/sys.s 0x00000000 Number 0 indicate_semi.o ABSOLUTE ../clib/angel/sys.s 0x00000000 Number 0 sys_stackheap_outer.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 use_no_semi.o ABSOLUTE ../clib/angel/sysapp.c 0x00000000 Number 0 sys_exit.o ABSOLUTE - ../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE ../clib/angel/sysapp.c 0x00000000 Number 0 sys_wrch.o ABSOLUTE - ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE + ../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE ../clib/armsys.c 0x00000000 Number 0 no_argv.o ABSOLUTE ../clib/armsys.c 0x00000000 Number 0 _get_argv_nomalloc.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE ../clib/fenv.c 0x00000000 Number 0 _rserrno.o ABSOLUTE ../clib/heapalloc.c 0x00000000 Number 0 hrguard.o ABSOLUTE ../clib/heapaux.c 0x00000000 Number 0 heapauxi.o ABSOLUTE ../clib/libinit.s 0x00000000 Number 0 libinit.o ABSOLUTE + ../clib/libinit.s 0x00000000 Number 0 libshutdown.o ABSOLUTE ../clib/libinit.s 0x00000000 Number 0 libshutdown2.o ABSOLUTE ../clib/libinit.s 0x00000000 Number 0 libinit2.o ABSOLUTE - ../clib/libinit.s 0x00000000 Number 0 libshutdown.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_outer.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtred_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_formal.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_exit.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_inner.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 __raise.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_general.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 defsig_exit.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 defsig_fpe_inner.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 defsig_rtred_inner.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_abrt_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_fpe_inner.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_stak_inner.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_formal.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_outer.o ABSOLUTE - ../clib/signal.c 0x00000000 Number 0 defsig_cppl_inner.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_pvfn_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_cppl_inner.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_segv_inner.o ABSOLUTE ../clib/signal.c 0x00000000 Number 0 defsig_other.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 __raise.o ABSOLUTE ../clib/signal.s 0x00000000 Number 0 defsig.o ABSOLUTE ../clib/stdlib.c 0x00000000 Number 0 exit.o ABSOLUTE ../clib/string.c 0x00000000 Number 0 strlen.o ABSOLUTE @@ -393,8 +393,8 @@ Image Symbol Table ../mathlib/fabs.c 0x00000000 Number 0 fabs.o ABSOLUTE ../mathlib/fpclassify.c 0x00000000 Number 0 fpclassify.o ABSOLUTE ../mathlib/poly.c 0x00000000 Number 0 poly.o ABSOLUTE - ../mathlib/pow.c 0x00000000 Number 0 pow.o ABSOLUTE ../mathlib/pow.c 0x00000000 Number 0 pow_x.o ABSOLUTE + ../mathlib/pow.c 0x00000000 Number 0 pow.o ABSOLUTE ../mathlib/qnan.c 0x00000000 Number 0 qnan.o ABSOLUTE ../mathlib/sqrt.c 0x00000000 Number 0 sqrt_x.o ABSOLUTE ../mathlib/sqrt.c 0x00000000 Number 0 sqrt.o ABSOLUTE @@ -457,112 +457,111 @@ Image Symbol Table .ARM.Collect$$rtexit$$00000003 0x00000340 Section 4 rtexit2.o(.ARM.Collect$$rtexit$$00000003) .ARM.Collect$$rtexit$$00000004 0x00000344 Section 6 rtexit2.o(.ARM.Collect$$rtexit$$00000004) .text 0x0000034c Section 0 main.o(.text) - .text 0x000009fc Section 0 motorinit.o(.text) - .text 0x00001a20 Section 0 encoders.o(.text) - .text 0x00001e38 Section 0 pid.o(.text) - .text 0x000026f0 Section 276 startup_tm4c123.o(.text) - $v0 0x000026f0 Number 0 startup_tm4c123.o(.text) - .text 0x00002804 Section 0 motion.o(.text) - .text 0x00002d68 Section 0 ssi.o(.text) - _SSIIntNumberGet 0x00002d69 Thumb Code 56 ssi.o(.text) - .text 0x00002f24 Section 0 spi.o(.text) - .text 0x00003080 Section 0 adc.o(.text) - .text 0x00003c9c Section 0 serve.o(.text) - .text 0x00003dcc Section 0 poles.o(.text) - .text 0x00004574 Section 0 strlen.o(.text) - .text 0x000045b2 Section 0 heapauxi.o(.text) - .text 0x000045b8 Section 0 _rserrno.o(.text) - .text 0x000045d0 Section 8 rt_errno_addr_intlibspace.o(.text) - .text 0x000045d8 Section 8 libspace.o(.text) - .text 0x000045e0 Section 74 sys_stackheap_outer.o(.text) - .text 0x0000462a Section 0 exit.o(.text) - .text 0x00004638 Section 0 sys_exit.o(.text) - .text 0x00004644 Section 2 use_no_semi.o(.text) - .text 0x00004646 Section 0 indicate_semi.o(.text) - i.__ARM_fpclassify 0x00004646 Section 0 fpclassify.o(i.__ARM_fpclassify) - i.__hardfp_pow 0x00004678 Section 0 pow.o(i.__hardfp_pow) - i.__kernel_poly 0x00005308 Section 0 poly.o(i.__kernel_poly) - i.__mathlib_dbl_underflow 0x00005400 Section 0 dunder.o(i.__mathlib_dbl_underflow) - i.fabs 0x00005420 Section 0 fabs.o(i.fabs) - i.sqrt 0x00005440 Section 0 sqrt.o(i.sqrt) - x$fpl$basic 0x000054ae Section 24 basic.o(x$fpl$basic) - $v0 0x000054ae Number 0 basic.o(x$fpl$basic) - x$fpl$d2f 0x000054c8 Section 98 d2f.o(x$fpl$d2f) - $v0 0x000054c8 Number 0 d2f.o(x$fpl$d2f) - x$fpl$dadd 0x0000552c Section 336 daddsub_clz.o(x$fpl$dadd) - $v0 0x0000552c Number 0 daddsub_clz.o(x$fpl$dadd) - _dadd1 0x0000553d Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - x$fpl$dcheck1 0x0000567c Section 16 dcheck1.o(x$fpl$dcheck1) - $v0 0x0000567c Number 0 dcheck1.o(x$fpl$dcheck1) - x$fpl$dcmpinf 0x0000568c Section 24 dcmpi.o(x$fpl$dcmpinf) - $v0 0x0000568c Number 0 dcmpi.o(x$fpl$dcmpinf) - x$fpl$ddiv 0x000056a4 Section 688 ddiv.o(x$fpl$ddiv) - $v0 0x000056a4 Number 0 ddiv.o(x$fpl$ddiv) - ddiv_entry 0x000056ab Thumb Code 0 ddiv.o(x$fpl$ddiv) - x$fpl$dfixu 0x00005954 Section 90 dfixu.o(x$fpl$dfixu) - $v0 0x00005954 Number 0 dfixu.o(x$fpl$dfixu) - x$fpl$dflt 0x000059ae Section 46 dflt_clz.o(x$fpl$dflt) - $v0 0x000059ae Number 0 dflt_clz.o(x$fpl$dflt) - x$fpl$dfltll 0x000059dc Section 162 dfltll_clz.o(x$fpl$dfltll) - $v0 0x000059dc Number 0 dfltll_clz.o(x$fpl$dfltll) - x$fpl$dfltu 0x00005a7e Section 38 dflt_clz.o(x$fpl$dfltu) - $v0 0x00005a7e Number 0 dflt_clz.o(x$fpl$dfltu) - x$fpl$dleqf 0x00005aa4 Section 120 dleqf.o(x$fpl$dleqf) - $v0 0x00005aa4 Number 0 dleqf.o(x$fpl$dleqf) - x$fpl$dmul 0x00005b1c Section 340 dmul.o(x$fpl$dmul) - $v0 0x00005b1c Number 0 dmul.o(x$fpl$dmul) - x$fpl$dnaninf 0x00005c70 Section 156 dnaninf.o(x$fpl$dnaninf) - $v0 0x00005c70 Number 0 dnaninf.o(x$fpl$dnaninf) - x$fpl$dretinf 0x00005d0c Section 12 dretinf.o(x$fpl$dretinf) - $v0 0x00005d0c Number 0 dretinf.o(x$fpl$dretinf) - x$fpl$drleqf 0x00005d18 Section 108 drleqf.o(x$fpl$drleqf) - $v0 0x00005d18 Number 0 drleqf.o(x$fpl$drleqf) - x$fpl$drsb 0x00005d84 Section 22 daddsub_clz.o(x$fpl$drsb) - $v0 0x00005d84 Number 0 daddsub_clz.o(x$fpl$drsb) - x$fpl$dsqrt 0x00005d9c Section 408 dsqrt_umaal.o(x$fpl$dsqrt) - $v0 0x00005d9c Number 0 dsqrt_umaal.o(x$fpl$dsqrt) - x$fpl$dsub 0x00005f34 Section 468 daddsub_clz.o(x$fpl$dsub) - $v0 0x00005f34 Number 0 daddsub_clz.o(x$fpl$dsub) - _dsub1 0x00005f45 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - x$fpl$fpinit 0x00006108 Section 10 fpinit.o(x$fpl$fpinit) - $v0 0x00006108 Number 0 fpinit.o(x$fpl$fpinit) - x$fpl$fretinf 0x00006112 Section 10 fretinf.o(x$fpl$fretinf) - $v0 0x00006112 Number 0 fretinf.o(x$fpl$fretinf) - x$fpl$llsfromd 0x0000611c Section 194 dfixll.o(x$fpl$llsfromd) - $v0 0x0000611c Number 0 dfixll.o(x$fpl$llsfromd) - x$fpl$retnan 0x000061de Section 100 retnan.o(x$fpl$retnan) - $v0 0x000061de Number 0 retnan.o(x$fpl$retnan) - x$fpl$scalbn 0x00006242 Section 92 scalbn.o(x$fpl$scalbn) - $v0 0x00006242 Number 0 scalbn.o(x$fpl$scalbn) - x$fpl$trapveneer 0x0000629e Section 48 trapv.o(x$fpl$trapveneer) - $v0 0x0000629e Number 0 trapv.o(x$fpl$trapveneer) - x$fpl$usenofp 0x000062ce Section 0 usenofp.o(x$fpl$usenofp) - .constdata 0x000062d0 Section 64 ssi.o(.constdata) - g_ppui32SSIIntMap 0x000062d0 Data 32 ssi.o(.constdata) - g_ppui32SSIIntMapSnowflake 0x000062f0 Data 32 ssi.o(.constdata) - .constdata 0x00006310 Section 136 pow.o(.constdata) - bp 0x00006310 Data 16 pow.o(.constdata) - dp_h 0x00006320 Data 16 pow.o(.constdata) - dp_l 0x00006330 Data 16 pow.o(.constdata) - L 0x00006340 Data 48 pow.o(.constdata) - P 0x00006370 Data 40 pow.o(.constdata) - .constdata 0x00006398 Section 8 qnan.o(.constdata) + .text 0x00000a14 Section 0 motorinit.o(.text) + .text 0x00001a38 Section 0 encoders.o(.text) + .text 0x00001e50 Section 0 pid.o(.text) + .text 0x00002708 Section 276 startup_tm4c123.o(.text) + $v0 0x00002708 Number 0 startup_tm4c123.o(.text) + .text 0x0000281c Section 0 motion.o(.text) + .text 0x00002d80 Section 0 ssi.o(.text) + _SSIIntNumberGet 0x00002d81 Thumb Code 56 ssi.o(.text) + .text 0x00002f3c Section 0 spi.o(.text) + .text 0x00003098 Section 0 adc.o(.text) + .text 0x00003cb4 Section 0 serve.o(.text) + .text 0x00003d94 Section 0 poles.o(.text) + .text 0x0000453c Section 0 strlen.o(.text) + .text 0x0000457a Section 0 heapauxi.o(.text) + .text 0x00004580 Section 0 _rserrno.o(.text) + .text 0x00004598 Section 8 rt_errno_addr_intlibspace.o(.text) + .text 0x000045a0 Section 8 libspace.o(.text) + .text 0x000045a8 Section 74 sys_stackheap_outer.o(.text) + .text 0x000045f2 Section 0 exit.o(.text) + .text 0x00004600 Section 0 sys_exit.o(.text) + .text 0x0000460c Section 2 use_no_semi.o(.text) + .text 0x0000460e Section 0 indicate_semi.o(.text) + i.__ARM_fpclassify 0x0000460e Section 0 fpclassify.o(i.__ARM_fpclassify) + i.__hardfp_pow 0x00004640 Section 0 pow.o(i.__hardfp_pow) + i.__kernel_poly 0x000052d0 Section 0 poly.o(i.__kernel_poly) + i.__mathlib_dbl_underflow 0x000053c8 Section 0 dunder.o(i.__mathlib_dbl_underflow) + i.fabs 0x000053e8 Section 0 fabs.o(i.fabs) + i.sqrt 0x00005408 Section 0 sqrt.o(i.sqrt) + x$fpl$basic 0x00005476 Section 24 basic.o(x$fpl$basic) + $v0 0x00005476 Number 0 basic.o(x$fpl$basic) + x$fpl$d2f 0x00005490 Section 98 d2f.o(x$fpl$d2f) 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0x00005a46 Number 0 dflt_clz.o(x$fpl$dfltu) + x$fpl$dleqf 0x00005a6c Section 120 dleqf.o(x$fpl$dleqf) + $v0 0x00005a6c Number 0 dleqf.o(x$fpl$dleqf) + x$fpl$dmul 0x00005ae4 Section 340 dmul.o(x$fpl$dmul) + $v0 0x00005ae4 Number 0 dmul.o(x$fpl$dmul) + x$fpl$dnaninf 0x00005c38 Section 156 dnaninf.o(x$fpl$dnaninf) + $v0 0x00005c38 Number 0 dnaninf.o(x$fpl$dnaninf) + x$fpl$dretinf 0x00005cd4 Section 12 dretinf.o(x$fpl$dretinf) + $v0 0x00005cd4 Number 0 dretinf.o(x$fpl$dretinf) + x$fpl$drleqf 0x00005ce0 Section 108 drleqf.o(x$fpl$drleqf) + $v0 0x00005ce0 Number 0 drleqf.o(x$fpl$drleqf) + x$fpl$drsb 0x00005d4c Section 22 daddsub_clz.o(x$fpl$drsb) + $v0 0x00005d4c Number 0 daddsub_clz.o(x$fpl$drsb) + x$fpl$dsqrt 0x00005d64 Section 408 dsqrt_umaal.o(x$fpl$dsqrt) + $v0 0x00005d64 Number 0 dsqrt_umaal.o(x$fpl$dsqrt) + x$fpl$dsub 0x00005efc Section 468 daddsub_clz.o(x$fpl$dsub) + $v0 0x00005efc Number 0 daddsub_clz.o(x$fpl$dsub) + _dsub1 0x00005f0d Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + x$fpl$fpinit 0x000060d0 Section 10 fpinit.o(x$fpl$fpinit) + $v0 0x000060d0 Number 0 fpinit.o(x$fpl$fpinit) + x$fpl$fretinf 0x000060da Section 10 fretinf.o(x$fpl$fretinf) + $v0 0x000060da Number 0 fretinf.o(x$fpl$fretinf) + x$fpl$llsfromd 0x000060e4 Section 194 dfixll.o(x$fpl$llsfromd) + $v0 0x000060e4 Number 0 dfixll.o(x$fpl$llsfromd) + x$fpl$retnan 0x000061a6 Section 100 retnan.o(x$fpl$retnan) + $v0 0x000061a6 Number 0 retnan.o(x$fpl$retnan) + x$fpl$scalbn 0x0000620a Section 92 scalbn.o(x$fpl$scalbn) + $v0 0x0000620a Number 0 scalbn.o(x$fpl$scalbn) + x$fpl$trapveneer 0x00006266 Section 48 trapv.o(x$fpl$trapveneer) + $v0 0x00006266 Number 0 trapv.o(x$fpl$trapveneer) + x$fpl$usenofp 0x00006296 Section 0 usenofp.o(x$fpl$usenofp) + .constdata 0x00006298 Section 64 ssi.o(.constdata) + g_ppui32SSIIntMap 0x00006298 Data 32 ssi.o(.constdata) + g_ppui32SSIIntMapSnowflake 0x000062b8 Data 32 ssi.o(.constdata) + .constdata 0x000062d8 Section 136 pow.o(.constdata) + bp 0x000062d8 Data 16 pow.o(.constdata) + dp_h 0x000062e8 Data 16 pow.o(.constdata) + dp_l 0x000062f8 Data 16 pow.o(.constdata) + L 0x00006308 Data 48 pow.o(.constdata) + P 0x00006338 Data 40 pow.o(.constdata) + .constdata 0x00006360 Section 8 qnan.o(.constdata) .data 0x20000000 Section 12 main.o(.data) .data 0x2000000c Section 2 motorinit.o(.data) .data 0x20000010 Section 92 encoders.o(.data) .data 0x2000006c Section 192 pid.o(.data) - .data 0x2000012c Section 192 motion.o(.data) - .data 0x200001ec Section 44 spi.o(.data) - .data 0x20000218 Section 84 adc.o(.data) - .data 0x2000026c Section 20 serve.o(.data) - .data 0x20000280 Section 36 poles.o(.data) - .bss 0x200002a4 Section 76 adc.o(.bss) - .bss 0x200002f0 Section 96 libspace.o(.bss) - HEAP 0x20000350 Section 0 startup_tm4c123.o(HEAP) - STACK 0x20000350 Section 512 startup_tm4c123.o(STACK) - Heap_Mem 0x20000350 Data 0 startup_tm4c123.o(HEAP) - Stack_Mem 0x20000350 Data 512 startup_tm4c123.o(STACK) - __initial_sp 0x20000550 Data 0 startup_tm4c123.o(STACK) + .data 0x2000012c Section 160 motion.o(.data) + .data 0x200001cc Section 44 spi.o(.data) + .data 0x200001f8 Section 84 adc.o(.data) + .data 0x2000024c Section 36 poles.o(.data) + .bss 0x20000270 Section 76 adc.o(.bss) + .bss 0x200002bc Section 96 libspace.o(.bss) + HEAP 0x20000320 Section 0 startup_tm4c123.o(HEAP) + STACK 0x20000320 Section 512 startup_tm4c123.o(STACK) + Heap_Mem 0x20000320 Data 0 startup_tm4c123.o(HEAP) + Stack_Mem 0x20000320 Data 512 startup_tm4c123.o(STACK) + __initial_sp 0x20000520 Data 0 startup_tm4c123.o(STACK) Global Symbols @@ -647,294 +646,294 @@ Image Symbol Table __rt_exit_ls 0x00000341 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000003) __rt_exit_prels_1 0x00000341 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002) __rt_exit_exit 0x00000345 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000004) - Data 0x0000034d Thumb Code 1610 main.o(.text) - main 0x00000997 Thumb Code 12 main.o(.text) - SystemInit 0x000009a3 Thumb Code 14 main.o(.text) - PWMA_Init 0x000009fd Thumb Code 314 motorinit.o(.text) - PWMB_Init 0x00000b37 Thumb Code 230 motorinit.o(.text) - PWMC_Init 0x00000c1d Thumb Code 172 motorinit.o(.text) - PWMD_Init 0x00000cc9 Thumb Code 150 motorinit.o(.text) - PWME_Init 0x00000d5f Thumb Code 436 motorinit.o(.text) - ADCB_Init 0x00000f13 Thumb Code 130 motorinit.o(.text) - ADCC_Init 0x00000f95 Thumb Code 172 motorinit.o(.text) - ADCD_Init 0x00001041 Thumb Code 42 motorinit.o(.text) - ADCE_Init 0x0000106b Thumb Code 148 motorinit.o(.text) - PortF_Init 0x000010ff Thumb Code 218 motorinit.o(.text) - SysTick_Init 0x000011d9 Thumb Code 28 motorinit.o(.text) - digitalWrite 0x000011f5 Thumb Code 818 motorinit.o(.text) - TIVA1 0x00001527 Thumb Code 122 motorinit.o(.text) - init_adc_8pins 0x000015a1 Thumb Code 152 motorinit.o(.text) - TIVA2 0x00001639 Thumb Code 88 motorinit.o(.text) - init_adc_3pins 0x00001691 Thumb Code 62 motorinit.o(.text) - init_adc_2pins 0x000016cf Thumb Code 72 motorinit.o(.text) - Delay1ms 0x00001717 Thumb Code 22 motorinit.o(.text) - delayUs 0x0000172d Thumb Code 22 motorinit.o(.text) - analogWrite 0x00001743 Thumb Code 442 motorinit.o(.text) - MotorStop 0x000018fd Thumb Code 204 motorinit.o(.text) - digitalRead 0x000019c9 Thumb Code 38 motorinit.o(.text) - GPIOA_Handler 0x00001a21 Thumb Code 136 encoders.o(.text) - SysTick_Handler 0x00001aa9 Thumb Code 422 encoders.o(.text) - singlePoleFilter 0x00001c4f Thumb Code 144 encoders.o(.text) - Hex2Dec 0x00001cdf Thumb Code 224 encoders.o(.text) - map 0x00001e39 Thumb Code 22 pid.o(.text) - PID_ML1_RPM 0x00001e4f Thumb Code 272 pid.o(.text) - PID_ML1_REV 0x00001f5f Thumb Code 286 pid.o(.text) - PID_ML2_RPM 0x0000207d Thumb Code 272 pid.o(.text) - PID_ML2_REV 0x0000218d Thumb Code 380 pid.o(.text) - PID_ML3_RPM 0x00002309 Thumb Code 300 pid.o(.text) - PID_ML3_REV 0x00002435 Thumb Code 314 pid.o(.text) - PID_MServe_RPM 0x0000256f Thumb Code 386 pid.o(.text) - Reset_Handler 0x000026f1 Thumb Code 8 startup_tm4c123.o(.text) - NMI_Handler 0x000026f9 Thumb Code 2 startup_tm4c123.o(.text) - HardFault_Handler 0x000026fb Thumb Code 2 startup_tm4c123.o(.text) - MemManage_Handler 0x000026fd Thumb Code 2 startup_tm4c123.o(.text) - BusFault_Handler 0x000026ff Thumb Code 2 startup_tm4c123.o(.text) - UsageFault_Handler 0x00002701 Thumb Code 2 startup_tm4c123.o(.text) - SVC_Handler 0x00002703 Thumb Code 2 startup_tm4c123.o(.text) - DebugMon_Handler 0x00002705 Thumb Code 2 startup_tm4c123.o(.text) - PendSV_Handler 0x00002707 Thumb Code 2 startup_tm4c123.o(.text) - GPIOB_Handler 0x0000270d Thumb Code 2 startup_tm4c123.o(.text) - GPIOC_Handler 0x0000270f Thumb Code 2 startup_tm4c123.o(.text) - GPIOD_Handler 0x00002711 Thumb Code 2 startup_tm4c123.o(.text) - GPIOE_Handler 0x00002713 Thumb Code 2 startup_tm4c123.o(.text) - UART0_Handler 0x00002715 Thumb Code 2 startup_tm4c123.o(.text) - UART1_Handler 0x00002717 Thumb Code 2 startup_tm4c123.o(.text) - SSI0_Handler 0x00002719 Thumb Code 2 startup_tm4c123.o(.text) - I2C0_Handler 0x0000271b Thumb Code 2 startup_tm4c123.o(.text) - PMW0_FAULT_Handler 0x0000271d Thumb Code 2 startup_tm4c123.o(.text) - PWM0_0_Handler 0x0000271f Thumb Code 2 startup_tm4c123.o(.text) - PWM0_1_Handler 0x00002721 Thumb Code 2 startup_tm4c123.o(.text) - PWM0_2_Handler 0x00002723 Thumb Code 2 startup_tm4c123.o(.text) - QEI0_Handler 0x00002725 Thumb Code 2 startup_tm4c123.o(.text) - ADC0SS0_Handler 0x00002727 Thumb Code 2 startup_tm4c123.o(.text) - ADC0SS1_Handler 0x00002729 Thumb Code 2 startup_tm4c123.o(.text) - ADC0SS2_Handler 0x0000272b Thumb Code 2 startup_tm4c123.o(.text) - ADC0SS3_Handler 0x0000272d Thumb Code 2 startup_tm4c123.o(.text) - WDT0_Handler 0x0000272f Thumb Code 2 startup_tm4c123.o(.text) - TIMER0A_Handler 0x00002731 Thumb Code 2 startup_tm4c123.o(.text) - TIMER0B_Handler 0x00002733 Thumb Code 2 startup_tm4c123.o(.text) - TIMER1A_Handler 0x00002735 Thumb Code 2 startup_tm4c123.o(.text) - TIMER1B_Handler 0x00002737 Thumb Code 2 startup_tm4c123.o(.text) - TIMER2A_Handler 0x00002739 Thumb Code 2 startup_tm4c123.o(.text) - TIMER2B_Handler 0x0000273b Thumb Code 2 startup_tm4c123.o(.text) - COMP0_Handler 0x0000273d Thumb Code 2 startup_tm4c123.o(.text) - COMP1_Handler 0x0000273f Thumb Code 2 startup_tm4c123.o(.text) - COMP2_Handler 0x00002741 Thumb Code 2 startup_tm4c123.o(.text) - SYSCTL_Handler 0x00002743 Thumb Code 2 startup_tm4c123.o(.text) - FLASH_Handler 0x00002745 Thumb Code 2 startup_tm4c123.o(.text) - GPIOF_Handler 0x00002747 Thumb Code 2 startup_tm4c123.o(.text) - GPIOG_Handler 0x00002749 Thumb Code 2 startup_tm4c123.o(.text) - GPIOH_Handler 0x0000274b Thumb Code 2 startup_tm4c123.o(.text) - UART2_Handler 0x0000274d Thumb Code 2 startup_tm4c123.o(.text) - SSI1_Handler 0x0000274f Thumb Code 2 startup_tm4c123.o(.text) - TIMER3A_Handler 0x00002751 Thumb Code 2 startup_tm4c123.o(.text) - TIMER3B_Handler 0x00002753 Thumb Code 2 startup_tm4c123.o(.text) - I2C1_Handler 0x00002755 Thumb Code 2 startup_tm4c123.o(.text) - QEI1_Handler 0x00002757 Thumb Code 2 startup_tm4c123.o(.text) - CAN0_Handler 0x00002759 Thumb Code 2 startup_tm4c123.o(.text) - CAN1_Handler 0x0000275b Thumb Code 2 startup_tm4c123.o(.text) - CAN2_Handler 0x0000275d Thumb Code 2 startup_tm4c123.o(.text) - HIB_Handler 0x0000275f Thumb Code 2 startup_tm4c123.o(.text) - USB0_Handler 0x00002761 Thumb Code 2 startup_tm4c123.o(.text) - PWM0_3_Handler 0x00002763 Thumb Code 2 startup_tm4c123.o(.text) - UDMA_Handler 0x00002765 Thumb Code 2 startup_tm4c123.o(.text) - UDMAERR_Handler 0x00002767 Thumb Code 2 startup_tm4c123.o(.text) - ADC1SS0_Handler 0x00002769 Thumb Code 2 startup_tm4c123.o(.text) - ADC1SS1_Handler 0x0000276b Thumb Code 2 startup_tm4c123.o(.text) - ADC1SS2_Handler 0x0000276d Thumb Code 2 startup_tm4c123.o(.text) - ADC1SS3_Handler 0x0000276f Thumb Code 2 startup_tm4c123.o(.text) - GPIOJ_Handler 0x00002771 Thumb Code 2 startup_tm4c123.o(.text) - GPIOK_Handler 0x00002773 Thumb Code 2 startup_tm4c123.o(.text) - GPIOL_Handler 0x00002775 Thumb Code 2 startup_tm4c123.o(.text) - SSI2_Handler 0x00002777 Thumb Code 2 startup_tm4c123.o(.text) - SSI3_Handler 0x00002779 Thumb Code 2 startup_tm4c123.o(.text) - UART3_Handler 0x0000277b Thumb Code 2 startup_tm4c123.o(.text) - UART4_Handler 0x0000277d Thumb Code 2 startup_tm4c123.o(.text) - UART5_Handler 0x0000277f Thumb Code 2 startup_tm4c123.o(.text) - UART6_Handler 0x00002781 Thumb Code 2 startup_tm4c123.o(.text) - UART7_Handler 0x00002783 Thumb Code 2 startup_tm4c123.o(.text) - I2C2_Handler 0x00002785 Thumb Code 2 startup_tm4c123.o(.text) - I2C3_Handler 0x00002787 Thumb Code 2 startup_tm4c123.o(.text) - TIMER4A_Handler 0x00002789 Thumb Code 2 startup_tm4c123.o(.text) - TIMER4B_Handler 0x0000278b Thumb Code 2 startup_tm4c123.o(.text) - TIMER5A_Handler 0x0000278d Thumb Code 2 startup_tm4c123.o(.text) - TIMER5B_Handler 0x0000278f Thumb Code 2 startup_tm4c123.o(.text) - WTIMER0A_Handler 0x00002791 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER0B_Handler 0x00002793 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER1A_Handler 0x00002795 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER1B_Handler 0x00002797 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER2A_Handler 0x00002799 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER2B_Handler 0x0000279b Thumb Code 2 startup_tm4c123.o(.text) - WTIMER3A_Handler 0x0000279d Thumb Code 2 startup_tm4c123.o(.text) - WTIMER3B_Handler 0x0000279f Thumb Code 2 startup_tm4c123.o(.text) - WTIMER4A_Handler 0x000027a1 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER4B_Handler 0x000027a3 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER5A_Handler 0x000027a5 Thumb Code 2 startup_tm4c123.o(.text) - WTIMER5B_Handler 0x000027a7 Thumb Code 2 startup_tm4c123.o(.text) - FPU_Handler 0x000027a9 Thumb Code 2 startup_tm4c123.o(.text) - I2C4_Handler 0x000027ab Thumb Code 2 startup_tm4c123.o(.text) - I2C5_Handler 0x000027ad Thumb Code 2 startup_tm4c123.o(.text) - GPIOM_Handler 0x000027af Thumb Code 2 startup_tm4c123.o(.text) - GPION_Handler 0x000027b1 Thumb Code 2 startup_tm4c123.o(.text) - QEI2_Handler 0x000027b3 Thumb Code 2 startup_tm4c123.o(.text) - GPIOP0_Handler 0x000027b5 Thumb Code 2 startup_tm4c123.o(.text) - GPIOP1_Handler 0x000027b7 Thumb Code 2 startup_tm4c123.o(.text) - GPIOP2_Handler 0x000027b9 Thumb Code 2 startup_tm4c123.o(.text) - GPIOP3_Handler 0x000027bb Thumb Code 2 startup_tm4c123.o(.text) - GPIOP4_Handler 0x000027bd Thumb Code 2 startup_tm4c123.o(.text) - GPIOP5_Handler 0x000027bf Thumb Code 2 startup_tm4c123.o(.text) - GPIOP6_Handler 0x000027c1 Thumb Code 2 startup_tm4c123.o(.text) - GPIOP7_Handler 0x000027c3 Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ0_Handler 0x000027c5 Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ1_Handler 0x000027c7 Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ2_Handler 0x000027c9 Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ3_Handler 0x000027cb Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ4_Handler 0x000027cd Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ5_Handler 0x000027cf Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ6_Handler 0x000027d1 Thumb Code 2 startup_tm4c123.o(.text) - GPIOQ7_Handler 0x000027d3 Thumb Code 2 startup_tm4c123.o(.text) - GPIOR_Handler 0x000027d5 Thumb Code 2 startup_tm4c123.o(.text) - GPIOS_Handler 0x000027d7 Thumb Code 2 startup_tm4c123.o(.text) - PMW1_0_Handler 0x000027d9 Thumb Code 2 startup_tm4c123.o(.text) - PWM1_1_Handler 0x000027db Thumb Code 2 startup_tm4c123.o(.text) - PWM1_2_Handler 0x000027dd Thumb Code 2 startup_tm4c123.o(.text) - PWM1_3_Handler 0x000027df Thumb Code 2 startup_tm4c123.o(.text) - PWM1_FAULT_Handler 0x000027e1 Thumb Code 2 startup_tm4c123.o(.text) - __user_initial_stackheap 0x000027e5 Thumb Code 0 startup_tm4c123.o(.text) - Stop 0x00002805 Thumb Code 68 motion.o(.text) - Forward 0x00002849 Thumb Code 84 motion.o(.text) - Reverse 0x0000289d Thumb Code 84 motion.o(.text) - Left 0x000028f1 Thumb Code 84 motion.o(.text) - Right 0x00002945 Thumb Code 84 motion.o(.text) - UpRight 0x00002999 Thumb Code 76 motion.o(.text) - UpLeft 0x000029e5 Thumb Code 76 motion.o(.text) - DownRight 0x00002a31 Thumb Code 76 motion.o(.text) - DownLeft 0x00002a7d Thumb Code 76 motion.o(.text) - ClockWise 0x00002ac9 Thumb Code 84 motion.o(.text) - CounterClockWise 0x00002b1d Thumb Code 84 motion.o(.text) - lifter1up 0x00002b71 Thumb Code 24 motion.o(.text) - lifter1down 0x00002b89 Thumb Code 24 motion.o(.text) - lifter2up 0x00002ba1 Thumb Code 24 motion.o(.text) - lifter2down 0x00002bb9 Thumb Code 24 motion.o(.text) - lifter12up 0x00002bd1 Thumb Code 88 motion.o(.text) - lifter12down 0x00002c29 Thumb Code 44 motion.o(.text) - lifter3up 0x00002c55 Thumb Code 24 motion.o(.text) - lifter3down 0x00002c6d Thumb Code 24 motion.o(.text) - liftersup 0x00002c85 Thumb Code 64 motion.o(.text) - liftersdown 0x00002cc5 Thumb Code 64 motion.o(.text) - liftersStop 0x00002d05 Thumb Code 52 motion.o(.text) - serve 0x00002d39 Thumb Code 24 motion.o(.text) - servestop 0x00002d51 Thumb Code 10 motion.o(.text) - SSIConfigSetExpClk 0x00002da1 Thumb Code 86 ssi.o(.text) - SSIEnable 0x00002df7 Thumb Code 10 ssi.o(.text) - SSIDisable 0x00002e01 Thumb Code 10 ssi.o(.text) - SSIIntRegister 0x00002e0b Thumb Code 16 ssi.o(.text) - SSIIntUnregister 0x00002e1b Thumb Code 14 ssi.o(.text) - SSIIntEnable 0x00002e29 Thumb Code 8 ssi.o(.text) - SSIIntDisable 0x00002e31 Thumb Code 8 ssi.o(.text) - SSIIntStatus 0x00002e39 Thumb Code 12 ssi.o(.text) - SSIIntClear 0x00002e45 Thumb Code 4 ssi.o(.text) - SSIDataPut 0x00002e49 Thumb Code 14 ssi.o(.text) - SSIDataPutNonBlocking 0x00002e57 Thumb Code 20 ssi.o(.text) - SSIDataGet 0x00002e6b Thumb Code 16 ssi.o(.text) - SSIDataGetNonBlocking 0x00002e7b Thumb Code 22 ssi.o(.text) - SSIDMAEnable 0x00002e91 Thumb Code 8 ssi.o(.text) - SSIDMADisable 0x00002e99 Thumb Code 8 ssi.o(.text) - SSIBusy 0x00002ea1 Thumb Code 10 ssi.o(.text) - SSIClockSourceSet 0x00002eab Thumb Code 8 ssi.o(.text) - SSIClockSourceGet 0x00002eb3 Thumb Code 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motorinit.o(.text) + PWMD_Init 0x00000ce1 Thumb Code 150 motorinit.o(.text) + PWME_Init 0x00000d77 Thumb Code 436 motorinit.o(.text) + ADCB_Init 0x00000f2b Thumb Code 130 motorinit.o(.text) + ADCC_Init 0x00000fad Thumb Code 172 motorinit.o(.text) + ADCD_Init 0x00001059 Thumb Code 42 motorinit.o(.text) + ADCE_Init 0x00001083 Thumb Code 148 motorinit.o(.text) + PortF_Init 0x00001117 Thumb Code 218 motorinit.o(.text) + SysTick_Init 0x000011f1 Thumb Code 28 motorinit.o(.text) + digitalWrite 0x0000120d Thumb Code 818 motorinit.o(.text) + TIVA1 0x0000153f Thumb Code 122 motorinit.o(.text) + init_adc_8pins 0x000015b9 Thumb Code 152 motorinit.o(.text) + TIVA2 0x00001651 Thumb Code 88 motorinit.o(.text) + init_adc_3pins 0x000016a9 Thumb Code 62 motorinit.o(.text) + init_adc_2pins 0x000016e7 Thumb Code 72 motorinit.o(.text) + Delay1ms 0x0000172f Thumb Code 22 motorinit.o(.text) + delayUs 0x00001745 Thumb Code 22 motorinit.o(.text) + analogWrite 0x0000175b Thumb Code 442 motorinit.o(.text) + 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Thumb Code 2 startup_tm4c123.o(.text) + BusFault_Handler 0x00002717 Thumb Code 2 startup_tm4c123.o(.text) + UsageFault_Handler 0x00002719 Thumb Code 2 startup_tm4c123.o(.text) + SVC_Handler 0x0000271b Thumb Code 2 startup_tm4c123.o(.text) + DebugMon_Handler 0x0000271d Thumb Code 2 startup_tm4c123.o(.text) + PendSV_Handler 0x0000271f Thumb Code 2 startup_tm4c123.o(.text) + GPIOB_Handler 0x00002725 Thumb Code 2 startup_tm4c123.o(.text) + GPIOC_Handler 0x00002727 Thumb Code 2 startup_tm4c123.o(.text) + GPIOD_Handler 0x00002729 Thumb Code 2 startup_tm4c123.o(.text) + GPIOE_Handler 0x0000272b Thumb Code 2 startup_tm4c123.o(.text) + UART0_Handler 0x0000272d Thumb Code 2 startup_tm4c123.o(.text) + UART1_Handler 0x0000272f Thumb Code 2 startup_tm4c123.o(.text) + SSI0_Handler 0x00002731 Thumb Code 2 startup_tm4c123.o(.text) + I2C0_Handler 0x00002733 Thumb Code 2 startup_tm4c123.o(.text) + PMW0_FAULT_Handler 0x00002735 Thumb Code 2 startup_tm4c123.o(.text) + PWM0_0_Handler 0x00002737 Thumb Code 2 startup_tm4c123.o(.text) + PWM0_1_Handler 0x00002739 Thumb Code 2 startup_tm4c123.o(.text) + PWM0_2_Handler 0x0000273b Thumb Code 2 startup_tm4c123.o(.text) + QEI0_Handler 0x0000273d Thumb Code 2 startup_tm4c123.o(.text) + ADC0SS0_Handler 0x0000273f Thumb Code 2 startup_tm4c123.o(.text) + ADC0SS1_Handler 0x00002741 Thumb Code 2 startup_tm4c123.o(.text) + ADC0SS2_Handler 0x00002743 Thumb Code 2 startup_tm4c123.o(.text) + ADC0SS3_Handler 0x00002745 Thumb Code 2 startup_tm4c123.o(.text) + WDT0_Handler 0x00002747 Thumb Code 2 startup_tm4c123.o(.text) + TIMER0A_Handler 0x00002749 Thumb Code 2 startup_tm4c123.o(.text) + TIMER0B_Handler 0x0000274b Thumb Code 2 startup_tm4c123.o(.text) + TIMER1A_Handler 0x0000274d Thumb Code 2 startup_tm4c123.o(.text) + TIMER1B_Handler 0x0000274f Thumb Code 2 startup_tm4c123.o(.text) + TIMER2A_Handler 0x00002751 Thumb Code 2 startup_tm4c123.o(.text) + TIMER2B_Handler 0x00002753 Thumb Code 2 startup_tm4c123.o(.text) + COMP0_Handler 0x00002755 Thumb Code 2 startup_tm4c123.o(.text) + COMP1_Handler 0x00002757 Thumb Code 2 startup_tm4c123.o(.text) + COMP2_Handler 0x00002759 Thumb Code 2 startup_tm4c123.o(.text) + SYSCTL_Handler 0x0000275b Thumb Code 2 startup_tm4c123.o(.text) + FLASH_Handler 0x0000275d Thumb Code 2 startup_tm4c123.o(.text) + GPIOF_Handler 0x0000275f Thumb Code 2 startup_tm4c123.o(.text) + GPIOG_Handler 0x00002761 Thumb Code 2 startup_tm4c123.o(.text) + GPIOH_Handler 0x00002763 Thumb Code 2 startup_tm4c123.o(.text) + UART2_Handler 0x00002765 Thumb Code 2 startup_tm4c123.o(.text) + SSI1_Handler 0x00002767 Thumb Code 2 startup_tm4c123.o(.text) + TIMER3A_Handler 0x00002769 Thumb Code 2 startup_tm4c123.o(.text) + TIMER3B_Handler 0x0000276b Thumb Code 2 startup_tm4c123.o(.text) + I2C1_Handler 0x0000276d Thumb Code 2 startup_tm4c123.o(.text) + QEI1_Handler 0x0000276f Thumb Code 2 startup_tm4c123.o(.text) + CAN0_Handler 0x00002771 Thumb Code 2 startup_tm4c123.o(.text) + CAN1_Handler 0x00002773 Thumb Code 2 startup_tm4c123.o(.text) + CAN2_Handler 0x00002775 Thumb Code 2 startup_tm4c123.o(.text) + HIB_Handler 0x00002777 Thumb Code 2 startup_tm4c123.o(.text) + USB0_Handler 0x00002779 Thumb Code 2 startup_tm4c123.o(.text) + PWM0_3_Handler 0x0000277b Thumb Code 2 startup_tm4c123.o(.text) + UDMA_Handler 0x0000277d Thumb Code 2 startup_tm4c123.o(.text) + UDMAERR_Handler 0x0000277f Thumb Code 2 startup_tm4c123.o(.text) + ADC1SS0_Handler 0x00002781 Thumb Code 2 startup_tm4c123.o(.text) + ADC1SS1_Handler 0x00002783 Thumb Code 2 startup_tm4c123.o(.text) + ADC1SS2_Handler 0x00002785 Thumb Code 2 startup_tm4c123.o(.text) + ADC1SS3_Handler 0x00002787 Thumb Code 2 startup_tm4c123.o(.text) + GPIOJ_Handler 0x00002789 Thumb Code 2 startup_tm4c123.o(.text) + GPIOK_Handler 0x0000278b Thumb Code 2 startup_tm4c123.o(.text) + GPIOL_Handler 0x0000278d Thumb Code 2 startup_tm4c123.o(.text) + SSI2_Handler 0x0000278f Thumb Code 2 startup_tm4c123.o(.text) + SSI3_Handler 0x00002791 Thumb Code 2 startup_tm4c123.o(.text) + UART3_Handler 0x00002793 Thumb Code 2 startup_tm4c123.o(.text) + UART4_Handler 0x00002795 Thumb Code 2 startup_tm4c123.o(.text) + UART5_Handler 0x00002797 Thumb Code 2 startup_tm4c123.o(.text) + UART6_Handler 0x00002799 Thumb Code 2 startup_tm4c123.o(.text) + UART7_Handler 0x0000279b Thumb Code 2 startup_tm4c123.o(.text) + I2C2_Handler 0x0000279d Thumb Code 2 startup_tm4c123.o(.text) + I2C3_Handler 0x0000279f Thumb Code 2 startup_tm4c123.o(.text) + TIMER4A_Handler 0x000027a1 Thumb Code 2 startup_tm4c123.o(.text) + TIMER4B_Handler 0x000027a3 Thumb Code 2 startup_tm4c123.o(.text) + TIMER5A_Handler 0x000027a5 Thumb Code 2 startup_tm4c123.o(.text) + TIMER5B_Handler 0x000027a7 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER0A_Handler 0x000027a9 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER0B_Handler 0x000027ab Thumb Code 2 startup_tm4c123.o(.text) + WTIMER1A_Handler 0x000027ad Thumb Code 2 startup_tm4c123.o(.text) + WTIMER1B_Handler 0x000027af Thumb Code 2 startup_tm4c123.o(.text) + WTIMER2A_Handler 0x000027b1 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER2B_Handler 0x000027b3 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER3A_Handler 0x000027b5 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER3B_Handler 0x000027b7 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER4A_Handler 0x000027b9 Thumb Code 2 startup_tm4c123.o(.text) + WTIMER4B_Handler 0x000027bb Thumb Code 2 startup_tm4c123.o(.text) + WTIMER5A_Handler 0x000027bd Thumb Code 2 startup_tm4c123.o(.text) + WTIMER5B_Handler 0x000027bf Thumb Code 2 startup_tm4c123.o(.text) + FPU_Handler 0x000027c1 Thumb Code 2 startup_tm4c123.o(.text) + I2C4_Handler 0x000027c3 Thumb Code 2 startup_tm4c123.o(.text) + I2C5_Handler 0x000027c5 Thumb Code 2 startup_tm4c123.o(.text) + GPIOM_Handler 0x000027c7 Thumb Code 2 startup_tm4c123.o(.text) + GPION_Handler 0x000027c9 Thumb Code 2 startup_tm4c123.o(.text) + QEI2_Handler 0x000027cb Thumb Code 2 startup_tm4c123.o(.text) + GPIOP0_Handler 0x000027cd Thumb Code 2 startup_tm4c123.o(.text) + GPIOP1_Handler 0x000027cf Thumb Code 2 startup_tm4c123.o(.text) + GPIOP2_Handler 0x000027d1 Thumb Code 2 startup_tm4c123.o(.text) + GPIOP3_Handler 0x000027d3 Thumb Code 2 startup_tm4c123.o(.text) + GPIOP4_Handler 0x000027d5 Thumb Code 2 startup_tm4c123.o(.text) + GPIOP5_Handler 0x000027d7 Thumb Code 2 startup_tm4c123.o(.text) + GPIOP6_Handler 0x000027d9 Thumb Code 2 startup_tm4c123.o(.text) + GPIOP7_Handler 0x000027db Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ0_Handler 0x000027dd Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ1_Handler 0x000027df Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ2_Handler 0x000027e1 Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ3_Handler 0x000027e3 Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ4_Handler 0x000027e5 Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ5_Handler 0x000027e7 Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ6_Handler 0x000027e9 Thumb Code 2 startup_tm4c123.o(.text) + GPIOQ7_Handler 0x000027eb Thumb Code 2 startup_tm4c123.o(.text) + GPIOR_Handler 0x000027ed Thumb Code 2 startup_tm4c123.o(.text) + GPIOS_Handler 0x000027ef Thumb Code 2 startup_tm4c123.o(.text) + PMW1_0_Handler 0x000027f1 Thumb Code 2 startup_tm4c123.o(.text) + PWM1_1_Handler 0x000027f3 Thumb Code 2 startup_tm4c123.o(.text) + PWM1_2_Handler 0x000027f5 Thumb Code 2 startup_tm4c123.o(.text) + PWM1_3_Handler 0x000027f7 Thumb Code 2 startup_tm4c123.o(.text) + PWM1_FAULT_Handler 0x000027f9 Thumb Code 2 startup_tm4c123.o(.text) + __user_initial_stackheap 0x000027fd Thumb Code 0 startup_tm4c123.o(.text) + Stop 0x0000281d Thumb Code 68 motion.o(.text) + Forward 0x00002861 Thumb Code 84 motion.o(.text) + Reverse 0x000028b5 Thumb Code 84 motion.o(.text) + Left 0x00002909 Thumb Code 84 motion.o(.text) + Right 0x0000295d Thumb Code 84 motion.o(.text) + UpRight 0x000029b1 Thumb Code 76 motion.o(.text) + UpLeft 0x000029fd Thumb Code 76 motion.o(.text) + DownRight 0x00002a49 Thumb Code 76 motion.o(.text) + DownLeft 0x00002a95 Thumb Code 76 motion.o(.text) + ClockWise 0x00002ae1 Thumb Code 84 motion.o(.text) + CounterClockWise 0x00002b35 Thumb Code 84 motion.o(.text) + lifter1up 0x00002b89 Thumb Code 24 motion.o(.text) + lifter1down 0x00002ba1 Thumb Code 24 motion.o(.text) + lifter2up 0x00002bb9 Thumb Code 24 motion.o(.text) + lifter2down 0x00002bd1 Thumb Code 24 motion.o(.text) + lifter12up 0x00002be9 Thumb Code 88 motion.o(.text) + lifter12down 0x00002c41 Thumb Code 44 motion.o(.text) + lifter3up 0x00002c6d Thumb Code 24 motion.o(.text) + lifter3down 0x00002c85 Thumb Code 24 motion.o(.text) + liftersup 0x00002c9d Thumb Code 64 motion.o(.text) + liftersdown 0x00002cdd Thumb Code 64 motion.o(.text) + liftersStop 0x00002d1d Thumb Code 52 motion.o(.text) + serve 0x00002d51 Thumb Code 24 motion.o(.text) + servestop 0x00002d69 Thumb Code 10 motion.o(.text) + SSIConfigSetExpClk 0x00002db9 Thumb Code 86 ssi.o(.text) + SSIEnable 0x00002e0f Thumb Code 10 ssi.o(.text) + SSIDisable 0x00002e19 Thumb Code 10 ssi.o(.text) + SSIIntRegister 0x00002e23 Thumb Code 16 ssi.o(.text) + SSIIntUnregister 0x00002e33 Thumb Code 14 ssi.o(.text) + SSIIntEnable 0x00002e41 Thumb Code 8 ssi.o(.text) + SSIIntDisable 0x00002e49 Thumb Code 8 ssi.o(.text) + SSIIntStatus 0x00002e51 Thumb Code 12 ssi.o(.text) + SSIIntClear 0x00002e5d Thumb Code 4 ssi.o(.text) + SSIDataPut 0x00002e61 Thumb Code 14 ssi.o(.text) + SSIDataPutNonBlocking 0x00002e6f Thumb Code 20 ssi.o(.text) + SSIDataGet 0x00002e83 Thumb Code 16 ssi.o(.text) + SSIDataGetNonBlocking 0x00002e93 Thumb Code 22 ssi.o(.text) + SSIDMAEnable 0x00002ea9 Thumb Code 8 ssi.o(.text) + SSIDMADisable 0x00002eb1 Thumb Code 8 ssi.o(.text) + SSIBusy 0x00002eb9 Thumb Code 10 ssi.o(.text) + SSIClockSourceSet 0x00002ec3 Thumb Code 8 ssi.o(.text) + SSIClockSourceGet 0x00002ecb Thumb Code 10 ssi.o(.text) + SSIAdvModeSet 0x00002ed5 Thumb Code 12 ssi.o(.text) + SSIAdvDataPutFrameEnd 0x00002ee1 Thumb Code 22 ssi.o(.text) + SSIAdvDataPutFrameEndNonBlocking 0x00002ef7 Thumb Code 28 ssi.o(.text) + SSIAdvFrameHoldEnable 0x00002f13 Thumb Code 10 ssi.o(.text) + SSIAdvFrameHoldDisable 0x00002f1d Thumb Code 10 ssi.o(.text) + ReadData 0x00002f3d Thumb Code 336 spi.o(.text) + data_get_ss1 0x00003099 Thumb Code 52 adc.o(.text) + data_get_ss0 0x000030cd Thumb Code 52 adc.o(.text) + calibration 0x00003101 Thumb Code 164 adc.o(.text) + digital_reads 0x000031a5 Thumb Code 306 adc.o(.text) + line 0x000032d7 Thumb Code 2390 adc.o(.text) + VerticalLines 0x00003c2d Thumb Code 86 adc.o(.text) + Serve 0x00003cb5 Thumb Code 208 serve.o(.text) + Pole 0x00003d95 Thumb Code 122 poles.o(.text) + Pole1 0x00003e0f Thumb Code 348 poles.o(.text) + Pole2 0x00003f6b Thumb Code 348 poles.o(.text) + Pole3 0x000040c7 Thumb Code 398 poles.o(.text) + Pole4 0x00004255 Thumb Code 348 poles.o(.text) + Pole5 0x000043b1 Thumb Code 348 poles.o(.text) + strlen 0x0000453d Thumb Code 62 strlen.o(.text) + __use_two_region_memory 0x0000457b Thumb Code 2 heapauxi.o(.text) + __rt_heap_escrow$2region 0x0000457d Thumb Code 2 heapauxi.o(.text) + __rt_heap_expand$2region 0x0000457f Thumb Code 2 heapauxi.o(.text) + __read_errno 0x00004581 Thumb Code 10 _rserrno.o(.text) + __set_errno 0x0000458b Thumb Code 12 _rserrno.o(.text) + __aeabi_errno_addr 0x00004599 Thumb Code 8 rt_errno_addr_intlibspace.o(.text) + __errno$intlibspace 0x00004599 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) + __rt_errno_addr$intlibspace 0x00004599 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) + __user_libspace 0x000045a1 Thumb Code 8 libspace.o(.text) + __user_perproc_libspace 0x000045a1 Thumb Code 0 libspace.o(.text) + __user_perthread_libspace 0x000045a1 Thumb Code 0 libspace.o(.text) + __user_setup_stackheap 0x000045a9 Thumb Code 74 sys_stackheap_outer.o(.text) + exit 0x000045f3 Thumb Code 12 exit.o(.text) + _sys_exit 0x00004601 Thumb Code 8 sys_exit.o(.text) + __I$use$semihosting 0x0000460d Thumb Code 0 use_no_semi.o(.text) + __use_no_semihosting_swi 0x0000460d Thumb Code 2 use_no_semi.o(.text) + __ARM_fpclassify 0x0000460f Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __semihosting_library_function 0x0000460f Thumb Code 0 indicate_semi.o(.text) + __hardfp_pow 0x00004641 Thumb Code 3132 pow.o(i.__hardfp_pow) + __kernel_poly 0x000052d1 Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_underflow 0x000053c9 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + fabs 0x000053e9 Thumb Code 32 fabs.o(i.fabs) + sqrt 0x00005409 Thumb Code 110 sqrt.o(i.sqrt) + __aeabi_dneg 0x00005477 Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x00005477 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x0000547d Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x0000547d Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x00005483 Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x00005489 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x00005491 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x00005491 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x000054f5 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x000054f5 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcheck_NaN1 0x00005645 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) + __fpl_dcmp_Inf 0x00005655 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x0000566d Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x0000566d Thumb Code 552 ddiv.o(x$fpl$ddiv) + __aeabi_d2uiz 0x0000591d Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x0000591d Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x00005977 Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x00005977 Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_l2d 0x000059a5 Thumb Code 0 dfltll_clz.o(x$fpl$dfltll) + _ll_sto_d 0x000059a5 Thumb Code 162 dfltll_clz.o(x$fpl$dfltll) + __aeabi_ui2d 0x00005a47 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x00005a47 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_cdcmple 0x00005a6d Thumb Code 0 dleqf.o(x$fpl$dleqf) + _dcmple 0x00005a6d Thumb Code 120 dleqf.o(x$fpl$dleqf) + __fpl_dcmple_InfNaN 0x00005acf Thumb Code 0 dleqf.o(x$fpl$dleqf) + __aeabi_dmul 0x00005ae5 Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x00005ae5 Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x00005c39 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x00005cd5 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_cdrcmple 0x00005ce1 Thumb Code 0 drleqf.o(x$fpl$drleqf) + _drcmple 0x00005ce1 Thumb Code 108 drleqf.o(x$fpl$drleqf) + __aeabi_drsub 0x00005d4d Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x00005d4d Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + _dsqrt 0x00005d65 Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) + __aeabi_dsub 0x00005efd Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x00005efd Thumb Code 464 daddsub_clz.o(x$fpl$dsub) + _fp_init 0x000060d1 Thumb Code 10 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x000060d9 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x000060d9 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x000060db Thumb Code 10 fretinf.o(x$fpl$fretinf) + __aeabi_d2lz 0x000060e5 Thumb Code 0 dfixll.o(x$fpl$llsfromd) + _ll_sfrom_d 0x000060e5 Thumb Code 194 dfixll.o(x$fpl$llsfromd) + __fpl_return_NaN 0x000061a7 Thumb Code 100 retnan.o(x$fpl$retnan) + __ARM_scalbn 0x0000620b Thumb Code 92 scalbn.o(x$fpl$scalbn) + __fpl_cmpreturn 0x00006267 Thumb Code 48 trapv.o(x$fpl$trapveneer) + __I$use$fp 0x00006296 Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x00006360 Data 8 qnan.o(.constdata) + Region$$Table$$Base 0x00006368 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x00006388 Number 0 anon$$obj.o(Region$$Table) i 0x20000000 Data 4 main.o(.data) a 0x20000004 Data 4 main.o(.data) servepwm 0x20000008 Data 4 main.o(.data) @@ -1011,99 +1010,86 @@ Image Symbol Table previous_I_MServe 0x20000120 Data 4 pid.o(.data) REF_RPM_MServe 0x20000124 Data 4 pid.o(.data) REF_REV_MServe 0x20000128 Data 4 pid.o(.data) - M5_CW 0x2000012c Data 4 motion.o(.data) - M6_CW 0x20000130 Data 4 motion.o(.data) - M7_CW 0x20000134 Data 4 motion.o(.data) - M8_CW 0x20000138 Data 4 motion.o(.data) - M5_CCW 0x2000013c Data 4 motion.o(.data) - M6_CCW 0x20000140 Data 4 motion.o(.data) - M7_CCW 0x20000144 Data 4 motion.o(.data) - M8_CCW 0x20000148 Data 4 motion.o(.data) - FORWARD 0x2000014c Data 16 motion.o(.data) - REVERSE 0x2000015c Data 16 motion.o(.data) - LEFT 0x2000016c Data 16 motion.o(.data) - RIGHT 0x2000017c Data 16 motion.o(.data) - UPRIGHT 0x2000018c Data 16 motion.o(.data) - UPLEFT 0x2000019c Data 16 motion.o(.data) - DOWNRIGHT 0x200001ac Data 16 motion.o(.data) - DOWNLEFT 0x200001bc Data 16 motion.o(.data) - CLOCKWISE 0x200001cc Data 16 motion.o(.data) - COUNTERCLOCKWISE 0x200001dc Data 16 motion.o(.data) - stop 0x200001ec Data 1 spi.o(.data) - F 0x200001ed Data 1 spi.o(.data) - Rev 0x200001ee Data 1 spi.o(.data) - L 0x200001ef Data 1 spi.o(.data) - R 0x200001f0 Data 1 spi.o(.data) - UR 0x200001f1 Data 1 spi.o(.data) - UL 0x200001f2 Data 1 spi.o(.data) - DR 0x200001f3 Data 1 spi.o(.data) - DL 0x200001f4 Data 1 spi.o(.data) - CW 0x200001f5 Data 1 spi.o(.data) - CCW 0x200001f6 Data 1 spi.o(.data) - ServeStart 0x200001f7 Data 1 spi.o(.data) - ServeStop 0x200001f8 Data 1 spi.o(.data) - LIFT1_UP 0x200001f9 Data 1 spi.o(.data) - LIFT1_DOWN 0x200001fa Data 1 spi.o(.data) - LIFT12_UP 0x200001fb Data 1 spi.o(.data) - LIFT12_DOWN 0x200001fc Data 1 spi.o(.data) - LIFT3_UP 0x200001fd Data 1 spi.o(.data) - LIFT3_DOWN 0x200001fe Data 1 spi.o(.data) - LIFTall_UP 0x200001ff Data 1 spi.o(.data) - LIFTall_DOWN 0x20000200 Data 1 spi.o(.data) - LIFT_STOP 0x20000201 Data 1 spi.o(.data) - servepwm_UP 0x20000202 Data 1 spi.o(.data) - servepwm_DOWN 0x20000203 Data 1 spi.o(.data) - POLE3 0x20000204 Data 1 spi.o(.data) - POLE1 0x20000205 Data 1 spi.o(.data) - POLE2 0x20000206 Data 1 spi.o(.data) - POLE5 0x20000207 Data 1 spi.o(.data) - POLE4 0x20000208 Data 1 spi.o(.data) - VERTICAL_LINE 0x20000209 Data 1 spi.o(.data) - LINE 0x2000020a Data 1 spi.o(.data) - R2 0x2000020b Data 1 spi.o(.data) - L2 0x2000020c Data 1 spi.o(.data) - UP 0x2000020d Data 1 spi.o(.data) - ui32Index 0x20000210 Data 4 spi.o(.data) - pui32DataRx 0x20000214 Data 4 spi.o(.data) - VL 0x20000218 Data 4 adc.o(.data) - ls1 0x2000021c Data 4 adc.o(.data) - ls2 0x20000220 Data 4 adc.o(.data) - ls3 0x20000224 Data 4 adc.o(.data) - ls4 0x20000228 Data 4 adc.o(.data) - ls5 0x2000022c Data 4 adc.o(.data) - ls6 0x20000230 Data 4 adc.o(.data) - ls7 0x20000234 Data 4 adc.o(.data) - ls8 0x20000238 Data 4 adc.o(.data) - sensor_lifter1 0x2000023c Data 4 adc.o(.data) - sensor_lifter3 0x20000240 Data 4 adc.o(.data) - V_L 0x20000244 Data 8 adc.o(.data) - V1 0x2000024c Data 4 adc.o(.data) - V2 0x20000250 Data 4 adc.o(.data) - V3 0x20000254 Data 4 adc.o(.data) - V4 0x20000258 Data 4 adc.o(.data) - V5 0x2000025c Data 4 adc.o(.data) - V6 0x20000260 Data 4 adc.o(.data) - V7 0x20000264 Data 4 adc.o(.data) - V8 0x20000268 Data 4 adc.o(.data) - State 0x2000026c Data 4 serve.o(.data) - I 0x20000270 Data 4 serve.o(.data) - state1 0x20000274 Data 4 serve.o(.data) - state2 0x20000278 Data 4 serve.o(.data) - SHARP 0x2000027c Data 4 serve.o(.data) - desired_pos1 0x20000280 Data 4 poles.o(.data) - desired_pos2 0x20000284 Data 4 poles.o(.data) - desired_pos3 0x20000288 Data 4 poles.o(.data) - current_pos1 0x2000028c Data 4 poles.o(.data) - current_pos2 0x20000290 Data 4 poles.o(.data) - current_pos3 0x20000294 Data 4 poles.o(.data) - pos1 0x20000298 Data 4 poles.o(.data) - pos2 0x2000029c Data 4 poles.o(.data) - pos3 0x200002a0 Data 4 poles.o(.data) - ADC0Value 0x200002a4 Data 32 adc.o(.bss) - IR 0x200002c4 Data 12 adc.o(.bss) - previous 0x200002d0 Data 32 adc.o(.bss) - __libspace_start 0x200002f0 Data 96 libspace.o(.bss) - __temporary_stack_top$libspace 0x20000350 Data 0 libspace.o(.bss) + FORWARD 0x2000012c Data 16 motion.o(.data) + REVERSE 0x2000013c Data 16 motion.o(.data) + LEFT 0x2000014c Data 16 motion.o(.data) + RIGHT 0x2000015c Data 16 motion.o(.data) + UPRIGHT 0x2000016c Data 16 motion.o(.data) + UPLEFT 0x2000017c Data 16 motion.o(.data) + DOWNRIGHT 0x2000018c Data 16 motion.o(.data) + DOWNLEFT 0x2000019c Data 16 motion.o(.data) + CLOCKWISE 0x200001ac Data 16 motion.o(.data) + COUNTERCLOCKWISE 0x200001bc Data 16 motion.o(.data) + stop 0x200001cc Data 1 spi.o(.data) + F 0x200001cd Data 1 spi.o(.data) + Rev 0x200001ce Data 1 spi.o(.data) + L 0x200001cf Data 1 spi.o(.data) + R 0x200001d0 Data 1 spi.o(.data) + UR 0x200001d1 Data 1 spi.o(.data) + UL 0x200001d2 Data 1 spi.o(.data) + DR 0x200001d3 Data 1 spi.o(.data) + DL 0x200001d4 Data 1 spi.o(.data) + CW 0x200001d5 Data 1 spi.o(.data) + CCW 0x200001d6 Data 1 spi.o(.data) + ServeStart 0x200001d7 Data 1 spi.o(.data) + ServeStop 0x200001d8 Data 1 spi.o(.data) + LIFT1_UP 0x200001d9 Data 1 spi.o(.data) + LIFT1_DOWN 0x200001da Data 1 spi.o(.data) + LIFT12_UP 0x200001db Data 1 spi.o(.data) + LIFT12_DOWN 0x200001dc Data 1 spi.o(.data) + LIFT3_UP 0x200001dd Data 1 spi.o(.data) + LIFT3_DOWN 0x200001de Data 1 spi.o(.data) + LIFTall_UP 0x200001df Data 1 spi.o(.data) + LIFTall_DOWN 0x200001e0 Data 1 spi.o(.data) + LIFT_STOP 0x200001e1 Data 1 spi.o(.data) + servepwm_UP 0x200001e2 Data 1 spi.o(.data) + servepwm_DOWN 0x200001e3 Data 1 spi.o(.data) + POLE3 0x200001e4 Data 1 spi.o(.data) + POLE1 0x200001e5 Data 1 spi.o(.data) + POLE2 0x200001e6 Data 1 spi.o(.data) + POLE4 0x200001e7 Data 1 spi.o(.data) + POLE5 0x200001e8 Data 1 spi.o(.data) + VERTICAL_LINE 0x200001e9 Data 1 spi.o(.data) + LINE 0x200001ea Data 1 spi.o(.data) + R2 0x200001eb Data 1 spi.o(.data) + L2 0x200001ec Data 1 spi.o(.data) + UP 0x200001ed Data 1 spi.o(.data) + ui32Index 0x200001f0 Data 4 spi.o(.data) + pui32DataRx 0x200001f4 Data 4 spi.o(.data) + VL 0x200001f8 Data 4 adc.o(.data) + ls1 0x200001fc Data 4 adc.o(.data) + ls2 0x20000200 Data 4 adc.o(.data) + ls3 0x20000204 Data 4 adc.o(.data) + ls4 0x20000208 Data 4 adc.o(.data) + ls5 0x2000020c Data 4 adc.o(.data) + ls6 0x20000210 Data 4 adc.o(.data) + ls7 0x20000214 Data 4 adc.o(.data) + ls8 0x20000218 Data 4 adc.o(.data) + sensor_lifter1 0x2000021c Data 4 adc.o(.data) + sensor_lifter3 0x20000220 Data 4 adc.o(.data) + V_L 0x20000224 Data 8 adc.o(.data) + V1 0x2000022c Data 4 adc.o(.data) + V2 0x20000230 Data 4 adc.o(.data) + V3 0x20000234 Data 4 adc.o(.data) + V4 0x20000238 Data 4 adc.o(.data) + V5 0x2000023c Data 4 adc.o(.data) + V6 0x20000240 Data 4 adc.o(.data) + V7 0x20000244 Data 4 adc.o(.data) + V8 0x20000248 Data 4 adc.o(.data) + desired_pos1 0x2000024c Data 4 poles.o(.data) + desired_pos2 0x20000250 Data 4 poles.o(.data) + desired_pos3 0x20000254 Data 4 poles.o(.data) + current_pos1 0x20000258 Data 4 poles.o(.data) + current_pos2 0x2000025c Data 4 poles.o(.data) + current_pos3 0x20000260 Data 4 poles.o(.data) + pos1 0x20000264 Data 4 poles.o(.data) + pos2 0x20000268 Data 4 poles.o(.data) + pos3 0x2000026c Data 4 poles.o(.data) + ADC0Value 0x20000270 Data 32 adc.o(.bss) + IR 0x20000290 Data 12 adc.o(.bss) + previous 0x2000029c Data 32 adc.o(.bss) + __libspace_start 0x200002bc Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x2000031c Data 0 libspace.o(.bss) @@ -1113,9 +1099,9 @@ Memory Map of the image Image Entry point : 0x0000026d - Load Region LR_IROM1 (Base: 0x00000000, Size: 0x00006664, Max: 0x00040000, ABSOLUTE, COMPRESSED[0x00006478]) + Load Region LR_IROM1 (Base: 0x00000000, Size: 0x000065f8, Max: 0x00040000, ABSOLUTE, COMPRESSED[0x00006424]) - Execution Region ER_IROM1 (Base: 0x00000000, Size: 0x000063c0, Max: 0x00040000, ABSOLUTE) + Execution Region ER_IROM1 (Base: 0x00000000, Size: 0x00006388, Max: 0x00040000, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object @@ -1165,72 +1151,72 @@ Memory Map of the image 0x00000340 0x00000004 Code RO 520 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) 0x00000344 0x00000006 Code RO 521 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) 0x0000034a 0x00000002 PAD - 0x0000034c 0x000006b0 Code RO 1 .text main.o - 0x000009fc 0x00001024 Code RO 106 .text motorinit.o - 0x00001a20 0x00000418 Code RO 128 .text encoders.o - 0x00001e38 0x000008b8 Code RO 147 .text pid.o - 0x000026f0 0x00000114 Code RO 180 .text startup_tm4c123.o - 0x00002804 0x00000564 Code RO 185 .text motion.o - 0x00002d68 0x000001bc Code RO 204 .text ssi.o - 0x00002f24 0x0000015c Code RO 236 .text spi.o - 0x00003080 0x00000c1c Code RO 261 .text adc.o - 0x00003c9c 0x00000130 Code RO 281 .text serve.o - 0x00003dcc 0x000007a8 Code RO 303 .text poles.o - 0x00004574 0x0000003e Code RO 335 .text c_w.l(strlen.o) - 0x000045b2 0x00000006 Code RO 337 .text c_w.l(heapauxi.o) - 0x000045b8 0x00000016 Code RO 384 .text c_w.l(_rserrno.o) - 0x000045ce 0x00000002 PAD - 0x000045d0 0x00000008 Code RO 446 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x000045d8 0x00000008 Code RO 454 .text c_w.l(libspace.o) - 0x000045e0 0x0000004a Code RO 457 .text c_w.l(sys_stackheap_outer.o) - 0x0000462a 0x0000000c Code RO 459 .text c_w.l(exit.o) - 0x00004636 0x00000002 PAD - 0x00004638 0x0000000c Code RO 529 .text c_w.l(sys_exit.o) - 0x00004644 0x00000002 Code RO 540 .text c_w.l(use_no_semi.o) - 0x00004646 0x00000000 Code RO 542 .text c_w.l(indicate_semi.o) - 0x00004646 0x00000030 Code RO 411 i.__ARM_fpclassify m_wm.l(fpclassify.o) - 0x00004676 0x00000002 PAD - 0x00004678 0x00000c90 Code RO 369 i.__hardfp_pow m_wm.l(pow.o) - 0x00005308 0x000000f8 Code RO 413 i.__kernel_poly m_wm.l(poly.o) - 0x00005400 0x00000020 Code RO 403 i.__mathlib_dbl_underflow m_wm.l(dunder.o) - 0x00005420 0x00000020 Code RO 407 i.fabs m_wm.l(fabs.o) - 0x00005440 0x0000006e Code RO 418 i.sqrt m_wm.l(sqrt.o) - 0x000054ae 0x00000018 Code RO 386 x$fpl$basic fz_wm.l(basic.o) - 0x000054c6 0x00000002 PAD - 0x000054c8 0x00000062 Code RO 341 x$fpl$d2f fz_wm.l(d2f.o) - 0x0000552a 0x00000002 PAD - 0x0000552c 0x00000150 Code RO 343 x$fpl$dadd fz_wm.l(daddsub_clz.o) - 0x0000567c 0x00000010 Code RO 448 x$fpl$dcheck1 fz_wm.l(dcheck1.o) - 0x0000568c 0x00000018 Code RO 467 x$fpl$dcmpinf fz_wm.l(dcmpi.o) - 0x000056a4 0x000002b0 Code RO 389 x$fpl$ddiv fz_wm.l(ddiv.o) - 0x00005954 0x0000005a Code RO 353 x$fpl$dfixu fz_wm.l(dfixu.o) - 0x000059ae 0x0000002e Code RO 358 x$fpl$dflt fz_wm.l(dflt_clz.o) - 0x000059dc 0x000000a2 Code RO 363 x$fpl$dfltll fz_wm.l(dfltll_clz.o) - 0x00005a7e 0x00000026 Code RO 357 x$fpl$dfltu fz_wm.l(dflt_clz.o) - 0x00005aa4 0x00000078 Code RO 450 x$fpl$dleqf fz_wm.l(dleqf.o) - 0x00005b1c 0x00000154 Code RO 367 x$fpl$dmul fz_wm.l(dmul.o) - 0x00005c70 0x0000009c Code RO 392 x$fpl$dnaninf fz_wm.l(dnaninf.o) - 0x00005d0c 0x0000000c Code RO 394 x$fpl$dretinf fz_wm.l(dretinf.o) - 0x00005d18 0x0000006c Code RO 396 x$fpl$drleqf fz_wm.l(drleqf.o) - 0x00005d84 0x00000016 Code RO 344 x$fpl$drsb fz_wm.l(daddsub_clz.o) - 0x00005d9a 0x00000002 PAD - 0x00005d9c 0x00000198 Code RO 452 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) - 0x00005f34 0x000001d4 Code RO 345 x$fpl$dsub fz_wm.l(daddsub_clz.o) - 0x00006108 0x0000000a Code RO 527 x$fpl$fpinit fz_wm.l(fpinit.o) - 0x00006112 0x0000000a Code RO 398 x$fpl$fretinf fz_wm.l(fretinf.o) - 0x0000611c 0x000000c2 Code RO 349 x$fpl$llsfromd fz_wm.l(dfixll.o) - 0x000061de 0x00000064 Code RO 469 x$fpl$retnan fz_wm.l(retnan.o) - 0x00006242 0x0000005c Code RO 400 x$fpl$scalbn fz_wm.l(scalbn.o) - 0x0000629e 0x00000030 Code RO 516 x$fpl$trapveneer fz_wm.l(trapv.o) - 0x000062ce 0x00000000 Code RO 402 x$fpl$usenofp fz_wm.l(usenofp.o) - 0x000062ce 0x00000002 PAD - 0x000062d0 0x00000040 Data RO 205 .constdata ssi.o - 0x00006310 0x00000088 Data RO 372 .constdata m_wm.l(pow.o) - 0x00006398 0x00000008 Data RO 415 .constdata m_wm.l(qnan.o) - 0x000063a0 0x00000020 Data RO 594 Region$$Table anon$$obj.o + 0x0000034c 0x000006c8 Code RO 1 .text main.o + 0x00000a14 0x00001024 Code RO 106 .text motorinit.o + 0x00001a38 0x00000418 Code RO 128 .text encoders.o + 0x00001e50 0x000008b8 Code RO 147 .text pid.o + 0x00002708 0x00000114 Code RO 180 .text startup_tm4c123.o + 0x0000281c 0x00000564 Code RO 185 .text motion.o + 0x00002d80 0x000001bc Code RO 204 .text ssi.o + 0x00002f3c 0x0000015c Code RO 236 .text spi.o + 0x00003098 0x00000c1c Code RO 261 .text adc.o + 0x00003cb4 0x000000e0 Code RO 281 .text serve.o + 0x00003d94 0x000007a8 Code RO 303 .text poles.o + 0x0000453c 0x0000003e Code RO 335 .text c_w.l(strlen.o) + 0x0000457a 0x00000006 Code RO 337 .text c_w.l(heapauxi.o) + 0x00004580 0x00000016 Code RO 384 .text c_w.l(_rserrno.o) + 0x00004596 0x00000002 PAD + 0x00004598 0x00000008 Code RO 446 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x000045a0 0x00000008 Code RO 454 .text c_w.l(libspace.o) + 0x000045a8 0x0000004a Code RO 457 .text c_w.l(sys_stackheap_outer.o) + 0x000045f2 0x0000000c Code RO 459 .text c_w.l(exit.o) + 0x000045fe 0x00000002 PAD + 0x00004600 0x0000000c Code RO 529 .text c_w.l(sys_exit.o) + 0x0000460c 0x00000002 Code RO 540 .text c_w.l(use_no_semi.o) + 0x0000460e 0x00000000 Code RO 542 .text c_w.l(indicate_semi.o) + 0x0000460e 0x00000030 Code RO 411 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x0000463e 0x00000002 PAD + 0x00004640 0x00000c90 Code RO 369 i.__hardfp_pow m_wm.l(pow.o) + 0x000052d0 0x000000f8 Code RO 413 i.__kernel_poly m_wm.l(poly.o) + 0x000053c8 0x00000020 Code RO 403 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x000053e8 0x00000020 Code RO 407 i.fabs m_wm.l(fabs.o) + 0x00005408 0x0000006e Code RO 418 i.sqrt m_wm.l(sqrt.o) + 0x00005476 0x00000018 Code RO 386 x$fpl$basic fz_wm.l(basic.o) + 0x0000548e 0x00000002 PAD + 0x00005490 0x00000062 Code RO 341 x$fpl$d2f fz_wm.l(d2f.o) + 0x000054f2 0x00000002 PAD + 0x000054f4 0x00000150 Code RO 343 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x00005644 0x00000010 Code RO 448 x$fpl$dcheck1 fz_wm.l(dcheck1.o) + 0x00005654 0x00000018 Code RO 467 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x0000566c 0x000002b0 Code RO 389 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x0000591c 0x0000005a Code RO 353 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x00005976 0x0000002e Code RO 358 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x000059a4 0x000000a2 Code RO 363 x$fpl$dfltll fz_wm.l(dfltll_clz.o) + 0x00005a46 0x00000026 Code RO 357 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x00005a6c 0x00000078 Code RO 450 x$fpl$dleqf fz_wm.l(dleqf.o) + 0x00005ae4 0x00000154 Code RO 367 x$fpl$dmul fz_wm.l(dmul.o) + 0x00005c38 0x0000009c Code RO 392 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x00005cd4 0x0000000c Code RO 394 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x00005ce0 0x0000006c Code RO 396 x$fpl$drleqf fz_wm.l(drleqf.o) + 0x00005d4c 0x00000016 Code RO 344 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x00005d62 0x00000002 PAD + 0x00005d64 0x00000198 Code RO 452 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) + 0x00005efc 0x000001d4 Code RO 345 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x000060d0 0x0000000a Code RO 527 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x000060da 0x0000000a Code RO 398 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x000060e4 0x000000c2 Code RO 349 x$fpl$llsfromd fz_wm.l(dfixll.o) + 0x000061a6 0x00000064 Code RO 469 x$fpl$retnan fz_wm.l(retnan.o) + 0x0000620a 0x0000005c Code RO 400 x$fpl$scalbn fz_wm.l(scalbn.o) + 0x00006266 0x00000030 Code RO 516 x$fpl$trapveneer fz_wm.l(trapv.o) + 0x00006296 0x00000000 Code RO 402 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x00006296 0x00000002 PAD + 0x00006298 0x00000040 Data RO 205 .constdata ssi.o + 0x000062d8 0x00000088 Data RO 372 .constdata m_wm.l(pow.o) + 0x00006360 0x00000008 Data RO 415 .constdata m_wm.l(qnan.o) + 0x00006368 0x00000020 Data RO 594 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000550, Max: 0x00008000, ABSOLUTE, COMPRESSED[0x000000b8]) + Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000520, Max: 0x00008000, ABSOLUTE, COMPRESSED[0x0000009c]) Base Addr Size Type Attr Idx E Section Name Object @@ -1239,15 +1225,15 @@ Memory Map of the image 0x2000000e 0x00000002 PAD 0x20000010 0x0000005c Data RW 129 .data encoders.o 0x2000006c 0x000000c0 Data RW 148 .data pid.o - 0x2000012c 0x000000c0 Data RW 186 .data motion.o - 0x200001ec 0x0000002c Data RW 237 .data spi.o - 0x20000218 0x00000054 Data RW 263 .data adc.o - 0x2000026c 0x00000014 Data RW 282 .data serve.o - 0x20000280 0x00000024 Data RW 304 .data poles.o - 0x200002a4 0x0000004c Zero RW 262 .bss adc.o - 0x200002f0 0x00000060 Zero RW 455 .bss c_w.l(libspace.o) - 0x20000350 0x00000000 Zero RW 178 HEAP startup_tm4c123.o - 0x20000350 0x00000200 Zero RW 177 STACK startup_tm4c123.o + 0x2000012c 0x000000a0 Data RW 186 .data motion.o + 0x200001cc 0x0000002c Data RW 237 .data spi.o + 0x200001f8 0x00000054 Data RW 263 .data adc.o + 0x2000024c 0x00000024 Data RW 304 .data poles.o + 0x20000270 0x0000004c Zero RW 262 .bss adc.o + 0x200002bc 0x00000060 Zero RW 455 .bss c_w.l(libspace.o) + 0x2000031c 0x00000004 PAD + 0x20000320 0x00000000 Zero RW 178 HEAP startup_tm4c123.o + 0x20000320 0x00000200 Zero RW 177 STACK startup_tm4c123.o ============================================================================== @@ -1259,18 +1245,18 @@ Image component sizes 3100 176 0 84 76 4254 adc.o 1048 122 0 92 0 2579 encoders.o - 1712 206 0 12 0 6194 main.o - 1380 58 0 192 0 4569 motion.o - 4132 534 0 2 0 5056 motorinit.o + 1736 200 0 12 0 6190 main.o + 1380 58 0 160 0 4313 motion.o + 4132 534 0 2 0 5060 motorinit.o 2232 210 0 192 0 4171 pid.o 1960 96 0 36 0 3340 poles.o - 304 30 0 20 0 1114 serve.o + 224 16 0 0 0 552 serve.o 348 12 0 44 0 1910 spi.o 444 22 64 0 0 6441 ssi.o 276 24 620 0 512 5396 startup_tm4c123.o ---------------------------------------------------------------------- - 16936 1490 716 676 588 45024 Object Totals + 16880 1470 716 624 588 44206 Object Totals 0 0 32 0 0 0 (incl. Generated) 0 0 0 2 0 0 (incl. Padding) @@ -1332,8 +1318,8 @@ Image component sizes 110 0 0 0 0 148 sqrt.o ---------------------------------------------------------------------- - 7740 586 144 0 96 5084 Library Totals - 18 0 0 0 0 0 (incl. Padding) + 7740 586 144 0 100 5084 Library Totals + 18 0 0 0 4 0 (incl. Padding) ---------------------------------------------------------------------- @@ -1344,7 +1330,7 @@ Image component sizes 3686 318 144 0 0 888 m_wm.l ---------------------------------------------------------------------- - 7740 586 144 0 96 5084 Library Totals + 7740 586 144 0 100 5084 Library Totals ---------------------------------------------------------------------- @@ -1353,15 +1339,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 24676 2076 860 676 684 44992 Grand Totals - 24676 2076 860 184 684 44992 ELF Image Totals (compressed) - 24676 2076 860 184 0 0 ROM Totals + 24620 2056 860 624 688 44174 Grand Totals + 24620 2056 860 156 688 44174 ELF Image Totals (compressed) + 24620 2056 860 156 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 25536 ( 24.94kB) - Total RW Size (RW Data + ZI Data) 1360 ( 1.33kB) - Total ROM Size (Code + RO Data + RW Data) 25720 ( 25.12kB) + Total RO Size (Code + RO Data) 25480 ( 24.88kB) + Total RW Size (RW Data + ZI Data) 1312 ( 1.28kB) + Total ROM Size (Code + RO Data + RW Data) 25636 ( 25.04kB) ============================================================================== diff --git a/Robot 1 tiva/trial pwm functions.sct b/Pirates Robocon 2017/trial pwm functions.sct similarity index 100% rename from Robot 1 tiva/trial pwm functions.sct rename to Pirates Robocon 2017/trial pwm functions.sct diff --git a/Robot 1 tiva/trial pwm functions.uvgui.omar_ b/Pirates Robocon 2017/trial pwm functions.uvgui.omar_ similarity index 83% rename from Robot 1 tiva/trial pwm functions.uvgui.omar_ rename to Pirates Robocon 2017/trial pwm functions.uvgui.omar_ index 234b6dc..6e54474 100644 --- a/Robot 1 tiva/trial pwm functions.uvgui.omar_ +++ b/Pirates Robocon 2017/trial pwm functions.uvgui.omar_ @@ -102,17 +102,17 @@ -1 - 69 - -144 - 672 - 590 + 169 + 497 + 1313 + 690 0 2449 - 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898 @@ -2593,8 +2593,8 @@ 0 - 1366 - 768 + 1600 + 900 @@ -2627,19 +2627,19 @@ C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\PID.h 0 - 24 + 25 37 C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\fence.h 0 1 - 4 + 9 C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\Motion.h 0 - 19 + 21 28 @@ -2649,153 +2649,153 @@ 0 100 - 5 + 0 - .\MotorInit.h - 16 + .\main.c + 0 1 - 7 + 11 1 0 - ADC.h - 19 - 2 - 19 + .\encoders.c + 23 + 19 + 145 1 0 - .\ADC.c - 31 - 133 - 256 + .\PID.c + 0 + 1 + 1 1 0 - .\MotorInit.c - 21 - 374 - 386 + .\UART.c + 48 + 1 + 5 1 0 - .\startup_TM4C123.s + .\Motion.c 0 - 228 - 234 + 1 + 1 1 0 - .\main.c - 21 - 175 - 199 + .\spi.c + 0 + 1 + 3 1 0 - .\encoders.c + .\pistons.c 0 - 42 - 43 + 1 + 1 1 0 - .\Serve.c - 1 - 125 - 137 + .\Poles.c + 0 + 1 + 4 1 0 - Motion.h - 29 - 19 - 28 + .\Serve.c + 0 + 1 + 1 1 0 - .\Motion.c - 54 - 50 - 63 + .\MotorInit.h + 16 + 3 + 7 1 0 - fence.h + ADC.h 19 - 1 - 4 + 3 + 19 1 0 - .\fence.c + .\ADC.c 0 1 - 11 + 1 1 0 - .\PID.c - 0 - 27 - 40 + .\MotorInit.c + 21 + 592 + 431 1 0 - .\ssi.c + .\startup_TM4C123.s 0 - 676 - 677 + 230 + 234 1 0 - .\Poles.c - 20 - 24 - 35 + Motion.h + 29 + 21 + 28 1 0 - .\spi.c - 2 - 19 - 22 + fence.h + 14 + 1 + 9 1 0 - Serve.h + .\fence.c 0 1 1 @@ -2804,19 +2804,28 @@ 0 - .\MemMap.h - 21 - 25 - 35 + .\ssi.c + 0 + 676 + 677 1 0 - .\pistons.c - 2 - 9 - 10 + Serve.h + 0 + 1 + 1 + 1 + + 0 + + + .\MemMap.h + 21 + 27 + 35 1 0 @@ -2824,7 +2833,7 @@ PID.h 26 - 24 + 25 37 1 @@ -2848,15 +2857,6 @@ 0 - - .\UART.c - 0 - 1 - 15 - 1 - - 0 - UART.h 5 diff --git a/Robot 1 tiva/trial pwm functions.uvgui_omar_.bak b/Pirates Robocon 2017/trial pwm functions.uvgui_omar_.bak similarity index 83% rename from Robot 1 tiva/trial pwm functions.uvgui_omar_.bak rename to Pirates Robocon 2017/trial pwm functions.uvgui_omar_.bak index 7386f01..c862ed6 100644 --- a/Robot 1 tiva/trial pwm functions.uvgui_omar_.bak +++ b/Pirates Robocon 2017/trial pwm functions.uvgui_omar_.bak @@ -102,17 +102,17 @@ -1 - 207 - 207 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898 @@ -2593,8 +2593,8 @@ 0 - 1366 - 768 + 1600 + 900 @@ -2627,19 +2627,19 @@ C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\PID.h 0 - 24 + 25 37 C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\fence.h 0 1 - 4 + 9 C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\Motion.h 0 - 19 + 21 28 @@ -2649,153 +2649,153 @@ 0 100 - 2 + 0 - .\MotorInit.h - 16 + .\main.c + 0 1 - 7 + 11 1 0 - ADC.h - 19 - 2 - 19 + .\encoders.c + 23 + 19 + 145 1 0 - .\ADC.c - 31 - 133 - 256 + .\PID.c + 0 + 1 + 1 1 0 - .\MotorInit.c - 21 - 374 - 386 + .\UART.c + 48 + 1 + 5 1 0 - .\startup_TM4C123.s + .\Motion.c 0 - 228 - 234 + 1 + 1 1 0 - .\main.c - 5 - 196 - 217 + .\spi.c + 0 + 1 + 3 1 0 - .\encoders.c + .\pistons.c 0 - 42 - 43 + 1 + 1 1 0 - .\Serve.c - 1 - 125 - 137 + .\Poles.c + 0 + 1 + 4 1 0 - Motion.h - 29 - 19 - 28 + .\Serve.c + 0 + 1 + 1 1 0 - .\Motion.c - 54 - 50 - 63 + .\MotorInit.h + 16 + 3 + 7 1 0 - fence.h + ADC.h 19 - 1 - 4 + 3 + 19 1 0 - .\fence.c + .\ADC.c 0 1 - 11 + 1 1 0 - .\PID.c - 0 - 27 - 40 + .\MotorInit.c + 21 + 592 + 431 1 0 - .\ssi.c + .\startup_TM4C123.s 0 - 676 - 677 + 230 + 234 1 0 - .\Poles.c - 20 - 24 - 35 + Motion.h + 29 + 21 + 28 1 0 - .\spi.c - 2 - 19 - 22 + fence.h + 14 + 1 + 9 1 0 - Serve.h + .\fence.c 0 1 1 @@ -2804,19 +2804,28 @@ 0 - .\MemMap.h - 21 - 25 - 35 + .\ssi.c + 0 + 676 + 677 1 0 - .\pistons.c - 2 - 9 - 10 + Serve.h + 0 + 1 + 1 + 1 + + 0 + + + .\MemMap.h + 21 + 27 + 35 1 0 @@ -2824,7 +2833,7 @@ PID.h 26 - 24 + 25 37 1 @@ -2848,15 +2857,6 @@ 0 - - .\UART.c - 0 - 1 - 15 - 1 - - 0 - UART.h 5 diff --git a/Robot 1 tiva/trial pwm functions.uvopt b/Pirates Robocon 2017/trial pwm functions.uvopt similarity index 95% rename from Robot 1 tiva/trial pwm functions.uvopt rename to Pirates Robocon 2017/trial pwm functions.uvopt index cf43b0e..249b289 100644 --- a/Robot 1 tiva/trial pwm functions.uvopt +++ b/Pirates Robocon 2017/trial pwm functions.uvopt @@ -397,7 +397,7 @@ 0 21 0 - 25 + 27 35 0 .\MemMap.h @@ -413,7 +413,7 @@ 0 16 0 - 1 + 3 7 0 .\MotorInit.h @@ -427,10 +427,10 @@ 1 0 0 - 21 + 0 0 - 175 - 199 + 1 + 11 0 .\main.c main.c @@ -445,8 +445,8 @@ 0 21 0 - 374 - 386 + 592 + 431 0 .\MotorInit.c MotorInit.c @@ -459,10 +459,10 @@ 1 0 0 - 0 + 23 0 - 42 - 43 + 19 + 145 0 .\encoders.c encoders.c @@ -477,8 +477,8 @@ 0 0 0 - 27 - 40 + 1 + 1 0 .\PID.c PID.c @@ -491,10 +491,10 @@ 1 0 0 - 0 + 48 0 1 - 15 + 5 0 .\UART.c UART.c @@ -509,7 +509,7 @@ 0 0 0 - 228 + 230 234 0 .\startup_TM4C123.s @@ -523,10 +523,10 @@ 1 0 0 - 54 + 0 0 - 50 - 63 + 1 + 1 0 .\Motion.c Motion.c @@ -555,10 +555,10 @@ 1 0 0 - 2 + 0 0 - 19 - 22 + 1 + 3 0 .\spi.c spi.c @@ -571,10 +571,10 @@ 1 0 0 - 2 + 0 0 - 9 - 10 + 1 + 1 0 .\pistons.c pistons.c @@ -603,10 +603,10 @@ 1 0 0 - 31 + 0 0 - 133 - 256 + 1 + 1 0 .\ADC.c ADC.c @@ -621,7 +621,7 @@ 0 19 0 - 2 + 3 19 0 .\ADC.h @@ -635,10 +635,10 @@ 1 0 0 - 1 + 0 0 - 125 - 137 + 1 + 1 0 .\Serve.c Serve.c @@ -667,10 +667,10 @@ 1 0 0 - 20 + 0 0 - 24 - 35 + 1 + 4 0 .\Poles.c Poles.c @@ -702,7 +702,7 @@ 0 0 1 - 11 + 1 0 .\fence.c fence.c diff --git a/Pirates Robocon 2017/trial pwm functions.uvproj b/Pirates Robocon 2017/trial pwm functions.uvproj new file mode 100644 index 0000000..ebb5610 --- /dev/null +++ b/Pirates Robocon 2017/trial pwm functions.uvproj @@ -0,0 +1,514 @@ + + + + 1.1 + +

                                                                                                                                                                                                                                                  ### uVision Project, (C) Keil Software
                                                                                                                                                                                                                                                  + + + + Target 1 + 0x4 + ARM-ADS + + + TM4C123GH6PM + Texas Instruments + IRAM(0x20000000-0x20007FFF) IROM(0-0x3FFFF) CLOCK(16000000) CPUTYPE("Cortex-M4") FPU2 + + "Startup\TI\TM4C123\startup_TM4C123.s" ("TM4C123 Startup Code") + UL2CM3(-O207 -S0 -C0 -FO7 -FD20000000 -FC800 -FN1 -FF0TM4C123_256 -FS00 -FL040000) + 6015 + TM4C123.h + + + + + + + -DTM4C123GH6PM + + + SFD\TI\TM4C123\TM4C123GH6PM.SFR + 0 + 0 + + + + TI\TM4C123\ + TI\TM4C123\ + + 0 + 0 + 0 + 0 + 1 + + .\ + trial pwm functions + 1 + 0 + 0 + 1 + 1 + .\ + 1 + 0 + 0 + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + 0 + + + + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 3 + + + 1 + + + SARMCM3.DLL + -MPU + DCM.DLL + -pCM4 -dLaunchPadDLL + SARMCM3.DLL + -MPU + TCM.DLL + -pCM4 + + + + 1 + 0 + 0 + 0 + 16 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + + + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 0 + + 0 + 2 + + + + + + + + + + + + + + BIN\lmidk-agdi.dll + + + + + 1 + 0 + 0 + 1 + 0 + -1 + + 1 + BIN\UL2CM3.DLL + + + + + + 0 + + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + "Cortex-M4" + + 0 + 0 + 0 + 1 + 1 + 0 + 0 + 2 + 0 + 0 + 8 + 0 + 0 + 0 + 3 + 3 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 1 + 0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x8000 + + + 1 + 0x0 + 0x40000 + + + 0 + 0x0 + 0x0 + + + 1 + 0x0 + 0x0 + + + 1 + 0x0 + 0x0 + + + 1 + 0x0 + 0x0 + + + 1 + 0x0 + 0x40000 + + + 1 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x8000 + + + 0 + 0x0 + 0x0 + + + + + + 1 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + + + + + E:\Keil\TivaWare_C_Series-2.1.2.111\inc;E:\Keil\TivaWare_C_Series-2.1.2.111 + + + + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + 1 + 0 + 0 + 0 + 1 + 0 + 0x00000000 + 0x20000000 + + + + + + + + + + + + + Source Group 1 + + + MemMap.h + 5 + .\MemMap.h + + + MotorInit.h + 5 + .\MotorInit.h + + + main.c + 1 + .\main.c + + + MotorInit.c + 1 + .\MotorInit.c + + + encoders.c + 1 + .\encoders.c + + + PID.c + 1 + .\PID.c + + + UART.c + 1 + .\UART.c + + + startup_TM4C123.s + 2 + .\startup_TM4C123.s + + + Motion.c + 1 + .\Motion.c + + + ssi.c + 1 + .\ssi.c + + + spi.c + 1 + .\spi.c + + + pistons.c + 1 + .\pistons.c + + + pistons.h + 5 + .\pistons.h + + + ADC.c + 1 + .\ADC.c + + + ADC.h + 5 + .\ADC.h + + + Serve.c + 1 + .\Serve.c + + + Serve.h + 5 + .\Serve.h + + + Poles.c + 1 + .\Poles.c + + + Poles.h + 5 + .\Poles.h + + + fence.c + 1 + .\fence.c + + + + + + + + diff --git a/Robot 1 tiva/trial pwm functions_Target 1.dep b/Pirates Robocon 2017/trial pwm functions_Target 1.dep similarity index 93% rename from Robot 1 tiva/trial pwm functions_Target 1.dep rename to Pirates Robocon 2017/trial pwm functions_Target 1.dep index b68868c..391cd83 100644 --- a/Robot 1 tiva/trial pwm functions_Target 1.dep +++ b/Pirates Robocon 2017/trial pwm functions_Target 1.dep @@ -1,7 +1,7 @@ Dependencies for Project 'trial pwm functions', Target 'Target 1': (DO NOT MODIFY !) F (.\MemMap.h)(0x59388012)() F (.\MotorInit.h)(0x597358E1)() -F (.\main.c)(0x59735FB1)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\main.o --omf_browse .\main.crf --depend .\main.d) +F (.\main.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\main.o --omf_browse .\main.crf --depend .\main.d) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) I (MotorInit.h)(0x597358E1) @@ -27,8 +27,8 @@ I (UART.h)(0x58E92E09) I (pistons.h)(0x59431AAE) I (Poles.h)(0x5957BA4E) I (E:\keil\ARM\ARMCC\include\stdlib.h)(0x51C819B4) -I (fence.h)(0x5959008D) -F (.\MotorInit.c)(0x597358E1)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\motorinit.o --omf_browse .\motorinit.crf --depend .\motorinit.d) +I (fence.h)(0x59807894) +F (.\MotorInit.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\motorinit.o --omf_browse .\motorinit.crf --depend .\motorinit.d) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) I (MemMap.h)(0x59388012) I (MotorInit.h)(0x597358E1) @@ -45,7 +45,7 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\uart.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\utils\uartstdio.h)(0x58435840) I (E:\keil\ARM\ARMCC\include\stdarg.h)(0x51C819B4) I (ADC.h)(0x597358E1) -F (.\encoders.c)(0x5957932C)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\encoders.o --omf_browse .\encoders.crf --depend .\encoders.d) +F (.\encoders.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\encoders.o --omf_browse .\encoders.crf --depend .\encoders.d) I (encoders.h)(0x594317F3) I (E:\keil\ARM\ARMCC\include\stdio.h)(0x51C819B4) I (E:\keil\ARM\ARMCC\include\math.h)(0x58B41097) @@ -66,7 +66,7 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\uart.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\utils\uartstdio.h)(0x58435840) I (E:\keil\ARM\ARMCC\include\stdarg.h)(0x51C819B4) I (ADC.h)(0x597358E1) -F (.\PID.c)(0x596E21D0)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\pid.o --omf_browse .\pid.crf --depend .\pid.d) +F (.\PID.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\pid.o --omf_browse .\pid.crf --depend .\pid.d) I (PID.h)(0x594503D1) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) @@ -88,7 +88,7 @@ I (encoders.h)(0x594317F3) I (E:\keil\ARM\ARMCC\include\stdio.h)(0x51C819B4) I (E:\keil\ARM\ARMCC\include\math.h)(0x58B41097) I (E:\keil\ARM\ARMCC\include\string.h)(0x51C819B4) -F (.\UART.c)(0x58EA71A2)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\uart.o --omf_browse .\uart.crf --depend .\uart.d) +F (.\UART.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\uart.o --omf_browse .\uart.crf --depend .\uart.d) I (UART.h)(0x58E92E09) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) @@ -107,7 +107,7 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\utils\uartstdio.h)(0x58435840) I (E:\keil\ARM\ARMCC\include\stdarg.h)(0x51C819B4) I (ADC.h)(0x597358E1) F (.\startup_TM4C123.s)(0x5943507F)(--cpu Cortex-M4.fp --pd "__EVAL SETA 1" -g --apcs=interwork -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 --list .\startup_tm4c123.lst --xref -o .\startup_tm4c123.o --depend .\startup_tm4c123.d) -F (.\Motion.c)(0x5964AC50)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\motion.o --omf_browse .\motion.crf --depend .\motion.d) +F (.\Motion.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\motion.o --omf_browse .\motion.crf --depend .\motion.d) I (Motion.h)(0x59428777) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) @@ -135,7 +135,7 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\inc\hw_types.h)(0x58435826) I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\debug.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\interrupt.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\ssi.h)(0x58435814) -F (.\spi.c)(0x596CEAEE)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\spi.o --omf_browse .\spi.crf --depend .\spi.d) +F (.\spi.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\spi.o --omf_browse .\spi.crf --depend .\spi.d) I (spi.h)(0x596CEAEE) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) @@ -148,10 +148,10 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\sysctl.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\uart.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\utils\uartstdio.h)(0x58435840) I (E:\keil\ARM\ARMCC\include\stdarg.h)(0x51C819B4) -F (.\pistons.c)(0x59431AAE)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\pistons.o --omf_browse .\pistons.crf --depend .\pistons.d) +F (.\pistons.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\pistons.o --omf_browse .\pistons.crf --depend .\pistons.d) I (pistons.h)(0x59431AAE) F (.\pistons.h)(0x59431AAE)() -F (.\ADC.c)(0x59735E7C)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\adc.o --omf_browse .\adc.crf --depend .\adc.d) +F (.\ADC.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\adc.o --omf_browse .\adc.crf --depend .\adc.d) I (ADC.h)(0x597358E1) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) I (MemMap.h)(0x59388012) @@ -169,7 +169,7 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\uart.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\utils\uartstdio.h)(0x58435840) I (E:\keil\ARM\ARMCC\include\stdarg.h)(0x51C819B4) F (.\ADC.h)(0x597358E1)() -F (.\Serve.c)(0x59725CFB)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\serve.o --omf_browse .\serve.crf --depend .\serve.d) +F (.\Serve.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\serve.o --omf_browse .\serve.crf --depend .\serve.d) I (Serve.h)(0x5970CA07) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) @@ -187,7 +187,7 @@ I (E:\Keil\TivaWare_C_Series-2.1.2.111\driverlib\uart.h)(0x58435814) I (E:\Keil\TivaWare_C_Series-2.1.2.111\utils\uartstdio.h)(0x58435840) I (E:\keil\ARM\ARMCC\include\stdarg.h)(0x51C819B4) F (.\Serve.h)(0x5970CA07)() -F (.\Poles.c)(0x5963BA43)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\poles.o --omf_browse .\poles.crf --depend .\poles.d) +F (.\Poles.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\poles.o --omf_browse .\poles.crf --depend .\poles.d) I (Poles.h)(0x5957BA4E) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) I (MemMap.h)(0x59388012) @@ -214,8 +214,8 @@ I (UART.h)(0x58E92E09) I (pistons.h)(0x59431AAE) I (E:\keil\ARM\ARMCC\include\stdlib.h)(0x51C819B4) F (.\Poles.h)(0x5957BA4E)() -F (.\fence.c)(0x5959008D)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\fence.o --omf_browse .\fence.crf --depend .\fence.d) -I (fence.h)(0x5959008D) +F (.\fence.c)(0x59807894)(-c --cpu Cortex-M4.fp -D__EVAL -g -W -O0 --apcs=interwork -IE:\Keil\TivaWare_C_Series-2.1.2.111\inc -IE:\Keil\TivaWare_C_Series-2.1.2.111 -I E:\keil\ARM\RV31\INC -I E:\keil\ARM\CMSIS\Include -I E:\keil\ARM\Inc\TI\TM4C123 -DTM4C123GH6PM -o .\fence.o --omf_browse .\fence.crf --depend .\fence.d) +I (fence.h)(0x59807894) I (MemMap.h)(0x59388012) I (E:\keil\ARM\ARMCC\include\stdint.h)(0x51C819B4) I (MotorInit.h)(0x597358E1) diff --git a/Robot 1 tiva/trial pwm functions_uvopt.bak b/Pirates Robocon 2017/trial pwm functions_uvopt.bak similarity index 94% rename from Robot 1 tiva/trial pwm functions_uvopt.bak rename to Pirates Robocon 2017/trial pwm functions_uvopt.bak index 5b78bfe..f1f8224 100644 --- a/Robot 1 tiva/trial pwm functions_uvopt.bak +++ b/Pirates Robocon 2017/trial pwm functions_uvopt.bak @@ -397,7 +397,7 @@ 0 21 0 - 23 + 25 35 0 .\MemMap.h @@ -411,10 +411,10 @@ 5 0 0 - 24 + 16 0 - 27 - 40 + 1 + 7 0 .\MotorInit.h MotorInit.h @@ -427,10 +427,10 @@ 1 0 0 - 5 + 0 0 - 196 - 217 + 1 + 11 0 .\main.c main.c @@ -445,8 +445,8 @@ 0 21 0 - 374 - 386 + 592 + 431 0 .\MotorInit.c MotorInit.c @@ -459,10 +459,10 @@ 1 0 0 - 0 + 23 0 - 42 - 43 + 19 + 145 0 .\encoders.c encoders.c @@ -477,8 +477,8 @@ 0 0 0 - 27 - 40 + 1 + 1 0 .\PID.c PID.c @@ -491,10 +491,10 @@ 1 0 0 - 0 + 48 0 1 - 15 + 5 0 .\UART.c UART.c @@ -509,7 +509,7 @@ 0 0 0 - 228 + 230 234 0 .\startup_TM4C123.s @@ -523,10 +523,10 @@ 1 0 0 - 54 + 0 0 - 50 - 63 + 1 + 1 0 .\Motion.c Motion.c @@ -555,10 +555,10 @@ 1 0 0 - 2 + 0 0 - 19 - 22 + 1 + 3 0 .\spi.c spi.c @@ -571,10 +571,10 @@ 1 0 0 - 2 + 0 0 - 9 - 10 + 1 + 1 0 .\pistons.c pistons.c @@ -603,10 +603,10 @@ 1 0 0 - 31 + 0 0 - 133 - 256 + 1 + 1 0 .\ADC.c ADC.c @@ -619,10 +619,10 @@ 5 0 0 - 13 + 19 0 - 1 - 18 + 2 + 19 0 .\ADC.h ADC.h @@ -635,10 +635,10 @@ 1 0 0 - 1 + 0 0 - 125 - 137 + 1 + 1 0 .\Serve.c Serve.c @@ -667,10 +667,10 @@ 1 0 0 - 20 + 0 0 - 24 - 35 + 1 + 4 0 .\Poles.c Poles.c @@ -702,7 +702,7 @@ 0 0 1 - 11 + 1 0 .\fence.c fence.c diff --git a/Robot 1 tiva/trial pwm functions_uvproj.bak b/Pirates Robocon 2017/trial pwm functions_uvproj.bak similarity index 100% rename from Robot 1 tiva/trial pwm functions_uvproj.bak rename to Pirates Robocon 2017/trial pwm functions_uvproj.bak diff --git a/Robot 1 tiva/uart.crf b/Pirates Robocon 2017/uart.crf similarity index 97% rename from Robot 1 tiva/uart.crf rename to Pirates Robocon 2017/uart.crf index dfdbd44..6438581 100644 Binary files a/Robot 1 tiva/uart.crf and b/Pirates Robocon 2017/uart.crf differ diff --git a/Robot 1 tiva/uart.d b/Pirates Robocon 2017/uart.d similarity index 100% rename from Robot 1 tiva/uart.d rename to Pirates Robocon 2017/uart.d diff --git a/Robot 1 tiva/uart.o b/Pirates Robocon 2017/uart.o similarity index 95% rename from Robot 1 tiva/uart.o rename to Pirates Robocon 2017/uart.o index 8b78182..a5734ca 100644 Binary files a/Robot 1 tiva/uart.o and b/Pirates Robocon 2017/uart.o differ diff --git a/Robot 1 tiva/Serve.c b/Robot 1 tiva/Serve.c deleted file mode 100644 index ef82aaa..0000000 --- a/Robot 1 tiva/Serve.c +++ /dev/null @@ -1,249 +0,0 @@ -#include "Serve.h" - -unsigned long State=1 ; -unsigned long I=0; -unsigned long state1=0; -unsigned long state2=0; -uint32_t SHARP[]={0}; - - - - /* - serve(); - digitalWrite(ServePiston,LOW); - digitalWrite(ServeMotorCW,LOW); -digitalWrite(ServeMotorCCW,HIGH); - Delay1ms(1000); - digitalWrite(ServeMotorCCW,LOW); - Delay1ms(100); - digitalWrite(ServePiston,HIGH); - Delay1ms(200); - digitalWrite(ServeMotorCW,HIGH); -Delay1ms(750); - digitalWrite(ServeMotorCW,LOW); - digitalWrite(ServeMotorCCW,LOW); - Delay1ms(290); - digitalWrite(ServePiston,LOW); - Delay1ms(200); - servestop(); - -}*/ - /* - switch (State) - { - case 1: - digitalWrite(ServePiston,LOW); - digitalWrite(ServeMotorCW,HIGH); - State=2; - Delay1ms(5); - // state1++; - while(1) - { - if(digitalRead(saucer)==HIGH) - { digitalWrite(ServePiston,HIGH); - digitalWrite(ServeMotorCW,LOW); - digitalWrite(ServeMotorCCW,LOW); - Delay1ms(5); - state1++; - break; - } - } - break; - - case 2: - digitalWrite(ServePiston,LOW); - digitalWrite(ServeMotorCCW,HIGH); - State=1; - Delay1ms(5); - //state2++; - while(1) - { - if(digitalRead(saucer)==HIGH) - { - digitalWrite(ServePiston,HIGH); - digitalWrite(ServeMotorCCW,LOW); - digitalWrite(ServeMotorCW,LOW); - Delay1ms(5); - state2++; - - break; - } - } - break; - }*/ - /* - switch (State) - { - case 1: - digitalWrite(ServePiston,LOW); - digitalWrite(ServeMotorCW,HIGH); - State=2; - Delay1ms(5); - // state1++; - while(1) - { - if(ReadData()==LIFTall_UP) - { digitalWrite(ServePiston,HIGH); - digitalWrite(ServeMotorCW,LOW); - digitalWrite(ServeMotorCCW,LOW); - Delay1ms(5); - state1++; - break; - } - } - break; - - case 2: - digitalWrite(ServePiston,LOW); - digitalWrite(ServeMotorCCW,HIGH); - State=1; - Delay1ms(5); - //state2++; - while(1) - { - if(ReadData()==LIFTall_UP) - { - digitalWrite(ServePiston,HIGH); - digitalWrite(ServeMotorCCW,LOW); - digitalWrite(ServeMotorCW,LOW); - Delay1ms(5); - state2++; - - break; - } - } - break; - }*/ - void Serve() -{ -/* digitalWrite(ServePiston,LOW); - Delay1ms(400); - digitalWrite(ServePiston,HIGH); - Delay1ms(400); - digitalWrite(ServePiston,LOW); - */ - /* - digitalWrite(ServePiston,LOW); - digitalWrite(ServeMotorCW,HIGH); - State=2; - Delay1ms(5); - // state1++; - while(1) - { - if((PA5&0x20)==0x20) - { - Delay1ms(80); - digitalWrite(ServePiston,HIGH); - digitalWrite(ServeMotorCW,LOW); - digitalWrite(ServeMotorCCW,LOW); - Delay1ms(5); - digitalWrite(ServeMotorCCW,HIGH); -Delay1ms(650); - digitalWrite(ServeMotorCCW,LOW); - state1++; - if(ReadData()==R2) - {break;} - break; - } - if(ReadData()==R2) - { digitalWrite(ServeMotorCW,LOW); - digitalWrite(ServeMotorCCW,LOW); - break;} -}*/ - -switch (State) - { - case 1: - digitalWrite(ServePiston,LOW); - Delay1ms(15); - PD2 &= ~0x04; - analogWrite(Motor10,5000) ; - State=2; - Delay1ms(5); - // state1++; - while(1) - { - if((PA5&0x20)==0x00) - //if(((PE2&0x04)==0)) - { - Delay1ms(70); - digitalWrite(ServePiston,HIGH); - MotorStop(Motor10); - Delay1ms(5); - state1++; - Delay1ms(150); - digitalWrite(ServePiston,LOW); - break; - } - } - break; - - case 2: - digitalWrite(ServePiston,LOW); - Delay1ms(15); - PD2 |= 0x04; - Delay1ms(15); - analogWrite(Motor10,5000) ; - State=1; - Delay1ms(5); - //state2++; - while(1) - { - if((PA5&0x20)==0x00) - // if(((PE2&0x04)==0)) - { - Delay1ms(75); - digitalWrite(ServePiston,HIGH); - MotorStop(Motor10); - Delay1ms(5); - state2++; - Delay1ms(150); - digitalWrite(ServePiston,LOW); - break; - } - } - break; - -} -/* -switch (State) - { - case 1: - digitalWrite(ServePiston,LOW); - Delay1ms(15); - PD2 &= ~0x04; - analogWrite(Motor10,4000) ; - State=2; - Delay1ms(5); - Delay1ms(570); - digitalWrite(ServePiston,HIGH); - - MotorStop(Motor10); - Delay1ms(150); - digitalWrite(ServePiston,LOW); - Delay1ms(5); - state1++; - - - break; - - case 2: - digitalWrite(ServePiston,LOW); - PD2 |= 0x04; - Delay1ms(15); - analogWrite(Motor10,4000) ; - State=1; - Delay1ms(5); - Delay1ms(570); - digitalWrite(ServePiston,HIGH); - MotorStop(Motor10); - Delay1ms(5); - Delay1ms(150); - digitalWrite(ServePiston,LOW); - - break; - -}*/ - - - } diff --git a/Robot 1 tiva/fence.c b/Robot 1 tiva/fence.c deleted file mode 100644 index 343f3ab..0000000 --- a/Robot 1 tiva/fence.c +++ /dev/null @@ -1,26 +0,0 @@ -#include "fence.h" - - -void Fence() -{ - - Right(); -if((digitalRead(s1)==HIGH)&&(digitalRead(s2)==HIGH)) - {Forward(); - Delay1ms(340); - } - - if((digitalRead(s1)==HIGH)&&(digitalRead(s2)==LOW)) - {CounterClockWise(); - Delay1ms(240); - ClockWise(); - Delay1ms(20); - } - if((digitalRead(s2)==HIGH)&&(digitalRead(s1)==LOW)) - {ClockWise(); - Delay1ms(240); - CounterClockWise(); - Delay1ms(20); - } - -} \ No newline at end of file diff --git a/Robot 1 tiva/main.c b/Robot 1 tiva/main.c deleted file mode 100644 index fc5d5be..0000000 --- a/Robot 1 tiva/main.c +++ /dev/null @@ -1,619 +0,0 @@ -#include "MemMap.h" -#include "MotorInit.h" -#include "PID.h" -#include "UART.h" -#include "Motion.h" -#include "spi.h" -#include "pistons.h" -#include "Serve.h" -#include "encoders.h" -#include "Poles.h" -#include "ADC.h" -#include "fence.h" -#include -#define SCB_R (*((volatile unsigned long *) 0xE000ED88)) -//double y = 0.00125 ; - int i=0; -int a=0; -unsigned long servepwm=8000 ; -//uint32_t A[100]={0}; -//uint32_t B[100]={0}; -//uint32_t C[100]={0}; -//uint32_t D[100]={0}; -//uint32_t E[100]={0}; -//uint32_t P[100]={0}; -//uint32_t G[100]={0}; -//uint32_t Z[100]={0}; -//int e=0; -//int y[8]={208,180,150,120,90,60,30,10}; -//unsigned long x = 0 ; - -void Delay1ms(unsigned long msec); -void Data(); -//void PID_REV_lifters(); - - -#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) - -int main() -{ - - TIVA1(); - while(1) - { - - Data(); - /* if(ReadData()==LIFTall_UP) // UP - {digitalWrite(ServeMotorCW,HIGH);} - else if(ReadData()==LIFTall_DOWN) // DOWN - { digitalWrite(ServeMotorCCW,HIGH);} - else if(ReadData()==LIFT_STOP) - { digitalWrite(ServeMotorCW,LOW); - digitalWrite(ServeMotorCCW,LOW); - } - */ - - } -} - - - -void SystemInit(void) -{ -/* Grant coprocessor access */ -/* This is required since TM4C123G has a floating point coprocessor */ - SCB_R |= 0x00f00000; -} - - - -void Data() -{ - if(ReadData()==0x30) // ps button - {Stop(); - servestop(); - liftersStop();} - if (ReadData()== 0x23) // start manual mode - { - //a=20; -while(1) -{ - if(ReadData()==0x0A) // ps button - {Stop(); - servestop(); - liftersStop();} - if(ReadData()==0x30) // ps button - {Stop(); - servestop(); - liftersStop();} - // a=20; - if(ReadData()==0x30) // ps button - {Stop(); - servestop(); - liftersStop();} - if(ReadData()==stop) - {Stop();} - else if(ReadData()==F) // analog forward - {Forward(); - a=1;} - else if(ReadData()==Rev) // analog backward - {Reverse(); - a=2;} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==L) // analog left - {Left(); - a=3;} - else if(ReadData()==R) // analog right - {Right(); - a=4;} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==UR) // analog upright - {UpRight(); - a=5;} - else if(ReadData()==UL) // analog upright - {UpLeft(); - a=6;} - else if(ReadData()==DR) // analog down right - {DownRight(); - a=7;} - else if(ReadData()==DL) //analog down left - {DownLeft(); - a=8;} - else if(ReadData()==CW) // right analog right( CW) - {ClockWise(); - a=9;} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==CCW) // right analog left (CCW) - {CounterClockWise(); - a=10;} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==ServeStart) // R1 - {analogWrite(Motor9,servepwm) ; -Delay1ms(5); - Serve(); - } - else if(ReadData()==ServeStop) // L1 - {servestop();} - else if(ReadData()==LIFT1_UP) // R2 - {lifter1up();} - else if(ReadData()==LIFT1_DOWN) // L2 - {lifter1down();} - else if(ReadData()==LIFT12_UP) // TRIANGLE - {lifter12up();} - else if(ReadData()==LIFT12_DOWN) // CROSS - {a=40; - lifter12down();} - else if(ReadData()==LIFT3_UP) // CIRCLE - {lifter3up();} - else if(ReadData()==LIFT3_DOWN) // SQUARE - {lifter3down();} - else if(ReadData()==LIFTall_UP) // UP - {liftersup();} - else if(ReadData()==LIFTall_DOWN) // DOWN - {liftersdown();} - else if(ReadData()==LIFT_STOP) - {liftersStop();} - else if(ReadData()==servepwm_DOWN) // LEFT - {servepwm=servepwm+8; - if(servepwm>16000) - { servepwm=15800; } } - else if(ReadData()==servepwm_UP) // RIGHT - {servepwm=servepwm-8; - if(servepwm<80) - {servepwm=500;} - if(servepwm>0xFFFF) - {servepwm=500;} - } - else if(ReadData()==stop) - {Stop();} - if (ReadData()==0x24)////////break and go into automatic mode - {break;} - } -} - -/////////////////////////////////// select Automatic mode//////////////////////////////////// - if (ReadData()==0x24) - { - a=90; - - while(1) - { - if(ReadData()==0x30) // ps button - {Stop(); - servestop(); - liftersStop();} - if(ReadData()==0x0A) // ps button - {Stop(); - servestop(); - liftersStop();} - //------------------------------------------------------------- - if (ReadData()==0x15) - {Pole1(3170,3170,2370,1550); - a=50;} - //------------------------------------------------------------- - if (ReadData()==POLE2) - {Pole2(3350,3750,2730,9500);} - //------------------------------------------------------------- - if (ReadData()==POLE3) - {Pole1(500,500,500,1550);} - //------------------------------------------------------------- - if (ReadData()==POLE4) - {Pole4(0,0,0,1550);} - //---------------------------------------------------------- - if (ReadData()==POLE5) - {Pole5(0,0,0,1550);} -//------------------------------------------------------------- - if (ReadData()==LINE) //RIGHT - {while(1) - { line (); - if(ReadData()==R2) - {break;} - if (ReadData()==0x23) - {break;} - } - } -//------------------------------------------------------------- - if(ReadData()==stop) - {Stop();} - else if(ReadData()==F) // analog forward - {Forward();} - else if(ReadData()==Rev) // analog backward - {Reverse();} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==L) // analog left - {Left();} - else if(ReadData()==R) // analog right - {Right();} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==UR) // analog upright - {UpRight();} - else if(ReadData()==UL) // analog upright - {UpLeft();} - else if(ReadData()==DR) // analog down right - {DownRight();} - else if(ReadData()==DL) //analog down left - {DownLeft();} - else if(ReadData()==CW) // right analog right(CW) - {ClockWise();} - else if(ReadData()==stop) - {Stop();} - else if(ReadData()==CCW) // right analog left (CCW) - {CounterClockWise();} - else if(ReadData()==stop) - {Stop(); - MotorStop(Motor10);} - else if(ReadData()==ServeStart) // R1 - {serve();} - else if(ReadData()==ServeStop) // L1 - {servestop();} - else if(ReadData()==LIFT_STOP) - {liftersStop(); - MotorStop(Motor10);} - else if(ReadData()==R2) - { - PD2 &= ~0x04; - analogWrite(Motor10,5000) ; - } - else if(ReadData()==L2) // L2 - { - PD2 |= 0x04; - analogWrite(Motor10,5000) ; - } - - else if(ReadData()==UP) // L2 - { - digitalWrite(ServePiston,HIGH); - Delay1ms(150); - digitalWrite(ServePiston,LOW); - } - if (ReadData()==0x23) - {break;} - } -} -} - - - -/* - -void PID_REV_lifters() -{ - if(ReadData()==0x18) // lifters up PID - { - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - digitalWrite(Motor3,LOW); - while(1) - { - PID_ML1_RPM(); - PID_ML2_RPM(); - PID_ML3_RPM(); - Data(); - if(ReadData()==0x20) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - Mlifter3counter=0 ; - liftersStop(); - break; - } - } - } - - if(ReadData()==0x78) // lifters down PID - { - digitalWrite(Motor1,HIGH); - digitalWrite(Motor2,HIGH); - digitalWrite(Motor3,HIGH); - while(1) - { - PID_ML1_RPM(); - PID_ML2_RPM(); - PID_ML3_RPM(); - Data(); - if(ReadData()==0x66) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - Mlifter3counter=0 ; - liftersStop(); - break; - } - } - } - - - if(ReadData()==0x78) // lifters REV up PID - { - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - digitalWrite(Motor3,LOW); - while(1) - { - PID_ML1_REV(); - PID_ML2_REV(); - PID_ML3_REV(); - Data(); - if(Mlifter1counter>=135 && Mlifter2counter>=135 && Mlifter3counter>=135) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - Mlifter3counter=0 ; - liftersStop(); - break; - } - } - } - if(ReadData()==0x78) // lifters REV DOWN up PID - { - digitalWrite(Motor1,HIGH); - digitalWrite(Motor2,HIGH); - digitalWrite(Motor3,HIGH); - while(1) - { - PID_ML1_REV(); - PID_ML2_REV(); - PID_ML3_REV(); - Data(); - if(Mlifter1counter>=135 && Mlifter2counter>=135 && Mlifter3counter>=135) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - Mlifter3counter=0 ; - liftersStop(); - break; - } - } - } - - if(ReadData()==0x80) // lifters 1,2 up PID - { - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - while(1) - { - PID_ML1_RPM(); - PID_ML2_RPM(); - Data(); - if(ReadData()==0x81) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - MotorStop(Motor1); - MotorStop(Motor2); - break; - } - } - } - - if(ReadData()==0x82) // lifters 1,2 down PID - { - digitalWrite(Motor1,HIGH); - digitalWrite(Motor2,HIGH); - while(1) - { - PID_ML1_RPM(); - PID_ML2_RPM(); - Data(); - if(ReadData()==0x81) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - MotorStop(Motor1); - MotorStop(Motor2); - break; - } - } - } - - if(ReadData()==0x83) // lifters 3 up PID - { - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - while(1) - { - PID_ML3_RPM(); - Data(); - if(ReadData()==0x81) // lifters stop - { - Mlifter3counter=0 ; - digitalWrite(Motor3,LOW); - MotorStop(Motor3); - break; - } - } - } - - - - if(ReadData()==0x84) // lifters 3 down PID - { - digitalWrite(Motor3,HIGH); - while(1) - { - PID_ML3_RPM(); - Data(); - if(ReadData()==0x81) // lifters stop - { - Mlifter3counter=0 ; - digitalWrite(Motor3,LOW); - MotorStop(Motor3); - break; - } - } - } - - if(ReadData()==0x85) // lifter 1,2 REV up PID - { - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - while(1) - { - PID_ML1_REV(); - PID_ML2_REV(); - Data(); - if(Mlifter1counter>=135 && Mlifter2counter>=135 ) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - MotorStop(Motor1); - MotorStop(Motor2); - break; - } - } - } - if(ReadData()==0x86) // lifter 1,2 REV DOWN up PID - { - digitalWrite(Motor1,HIGH); - digitalWrite(Motor2,HIGH); - while(1) - { - PID_ML1_REV(); - PID_ML2_REV(); - Data(); - if(Mlifter1counter>=135 && Mlifter2counter>=135 ) // lifters stop - { - Mlifter1counter=0 ; - Mlifter2counter=0 ; - digitalWrite(Motor1,LOW); - digitalWrite(Motor2,LOW); - MotorStop(Motor1); - MotorStop(Motor2); - break; - } - } - } - - if(ReadData()==0x87) // lifter 3 REV up PID - { - digitalWrite(Motor3,LOW); - while(1) - { - PID_ML3_REV(); - Data(); - if(Mlifter3counter>=135 ) // lifters stop - { - Mlifter3counter=0 ; - digitalWrite(Motor3,LOW); - MotorStop(Motor3); - break; - } - } - } - if(ReadData()==0x88) // lifter 1,2 REV DOWN up PID - { - digitalWrite(Motor3,HIGH); - while(1) - { - PID_ML3_REV(); - Data(); - if(Mlifter3counter>=135 ) // lifters stop - { - Mlifter3counter=0 ; - digitalWrite(Motor3,LOW); - MotorStop(Motor3); - break; - } - } - } - -}*/ - - - -/*main() -{ - while(1) - -// for(a=0;a<=8;a++) - //{ - //i= map(y[a] , 0 , 255 , 3190 , 0); - //} - //GPIODATA_PORTD |= 0x40; - //digitalWrite(ServeMotorCCW,LOW); - // digitalWrite(ServePiston,1); - // digitalWrite(ServeMotorCCW,1); - //digitalWrite(ServeMotorCW,1); - // Serve(); - // delayUs(200000); - //if(State==2) - //{ - // while(1); - // } -// LOAD(); - // TIMER4A_Start(); - // TIMER4A_Stop(); - - /* for(i=0;i<=1600;i=i+100) - { - analogWrite(Motor7,i); - analogWrite(Motor8,i); - for(x=0;x<=50000;x++) - { - - } - - }*/ - //analogWrite(Motor1,2000); - //analogWrite(Motor2,2000); -// i = (0x3FC) * (1/0.02) * (y)* 60 ; - -// x=Hex2Dec(0xA0); -//digitalWrite(Motor1,HIGH); -// digitalWrite(Motor2,HIGH); - /* - while(1) - { - - - - Data(); - // PID_REV_lifters(); - - // if(ReadData()==0x11) - // { - while(1) - {PID_ML2_REV(); - if(PID_value_ML2==3190) - {Mlifter2counter=0; - break;}}} - PID_ML2_REV();*/ - // analogWrite(Motor1,2000); - // analogWrite(Motor2,2000); - // PID_ML1_REV(); - // PID_ML3_REV(); - // WaitForInterrupt(); -// PID_ML1_RPM(); -// PID_ML3_RPM(); -//Delay1ms(4); - // SysTick(); -// analogWrite(Motor1,0); - // analogWrite(Motor2,500); - // for(i=1;i<1600;i++) - // { - //analogWrite(Motor1,0); - // for(x=1600;x>0;x--) - //{ - //} - //} - // MotorStop(Motor7); - // MotorStop(Motor8); - // analogWrite(Motor10,400); - // MotorStop(Motor2); - -// } - - -//} \ No newline at end of file diff --git a/Robot 1 tiva/trial pwm functions.axf b/Robot 1 tiva/trial pwm functions.axf deleted file mode 100644 index 4bdd968..0000000 Binary files a/Robot 1 tiva/trial pwm functions.axf and /dev/null differ diff --git a/Robot 1 tiva/trial pwm functions.build_log.htm b/Robot 1 tiva/trial pwm functions.build_log.htm deleted file mode 100644 index 689f995..0000000 --- a/Robot 1 tiva/trial pwm functions.build_log.htm +++ /dev/null @@ -1,25 +0,0 @@ - - -
                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                  µVision Build Log
                                                                                                                                                                                                                                                  
-
                                                                                                                                                                                                                                                  Project:
                                                                                                                                                                                                                                                  
-C:\Users\omar_\Documents\GitHub\Pirates14\Robot 1 tiva\trial pwm functions.uvproj
-Project File Date:  07/09/2017
-
-
                                                                                                                                                                                                                                                  Output:
                                                                                                                                                                                                                                                  
-Build target 'Target 1'
-linking...
-Program Size: Code=24676 RO-data=860 RW-data=676 ZI-data=684  
-".\trial pwm functions.axf" - 0 Error(s), 0 Warning(s).
-(s), 0 Warning(s).
-.
-compiling Serve.c...
-compiling Poles.c...
-compiling fence.c...
-linking...
-Program Size: Code=24620 RO-data=860 RW-data=676 ZI-data=684  
-".\trial pwm functions.axf" - 0 Error(s), 0 Warning(s).
- list image symbols.
-Finished: 1 information, 0 warning and 1 error messages.
-".\trial pwm functions.axf" - 1 Error(s), 0 Warning(s).
-Target not created