diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000..81b7a74
Binary files /dev/null and b/.DS_Store differ
diff --git a/FreeRTOSConfig.h b/FreeRTOSConfig.h
new file mode 100644
index 0000000..0e3ae9f
--- /dev/null
+++ b/FreeRTOSConfig.h
@@ -0,0 +1,112 @@
+/*
+    FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS books - available as PDF or paperback  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  Thank you for your support!                *
+    *                                                                         *
+    ***************************************************************************
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+    ***NOTE*** The exception to the GPL is included to allow you to distribute
+    a combined work that includes FreeRTOS without being obliged to provide the
+    source code for proprietary components outside of the FreeRTOS kernel.
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+    more details. You should have received a copy of the GNU General Public 
+    License and the FreeRTOS license exception along with FreeRTOS; if not it 
+    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
+    by writing to Richard Barry, contact details for whom are available on the
+    FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    http://www.FreeRTOS.org - Documentation, latest information, license and
+    contact details.
+
+    http://www.SafeRTOS.com - A version that is certified for use in safety
+    critical systems.
+
+    http://www.OpenRTOS.com - Commercial support, development, porting,
+    licensing and training services.
+*/
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+#define configUSE_PREEMPTION		1
+#define configUSE_IDLE_HOOK			0
+#define configUSE_TICK_HOOK			0
+#define configCPU_CLOCK_HZ			( ( unsigned long ) 72000000 )	
+#define configTICK_RATE_HZ			( ( portTickType ) 1000 )
+#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
+#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 128 )
+#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 17 * 1024 ) )
+#define configMAX_TASK_NAME_LEN		( 16 )
+#define configUSE_TRACE_FACILITY	0
+#define configUSE_16_BIT_TICKS		0
+#define configIDLE_SHOULD_YIELD		1
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 		0
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+#define configUSE_MUTEXES           1
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_vTaskDelete				1
+#define INCLUDE_vTaskCleanUpResources	0
+#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelay				1
+
+/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
+(lowest) to 0 (1?) (highest). */
+#define configKERNEL_INTERRUPT_PRIORITY 		255
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	191 /* equivalent to 0xb0, or priority 11. */
+
+
+/* This is the value being used as per the ST library which permits 16
+priority values, 0 to 15.  This must correspond to the
+configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
+NVIC value of 255. */
+#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
+
+#endif /* FREERTOS_CONFIG_H */
+
diff --git a/STM32F10x.s b/STM32F10x.s
new file mode 100644
index 0000000..605fbbe
--- /dev/null
+++ b/STM32F10x.s
@@ -0,0 +1,294 @@
+;/*****************************************************************************/
+;/* STM32F10x.s: Startup file for ST STM32F10x device series                  */
+;/*****************************************************************************/
+;/* <<< Use Configuration Wizard in Context Menu >>>                          */
+;/*****************************************************************************/
+;/* This file is part of the uVision/ARM development tools.                   */
+;/* Copyright (c) 2005-2007 Keil Software. All rights reserved.               */
+;/* This software may only be used under the terms of a valid, current,       */
+;/* end user licence from KEIL for a compatible version of KEIL software      */
+;/* development tools. Nothing else gives you the right to use this software. */
+;/*****************************************************************************/
+
+
+;// <h> Stack Configuration
+;//   <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
+;// </h>
+
+Stack_Size      EQU     0x00000200
+
+                AREA    STACK, NOINIT, READWRITE, ALIGN=3
+Stack_Mem       SPACE   Stack_Size
+__initial_sp
+
+
+;// <h> Heap Configuration
+;//   <o>  Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
+;// </h>
+
+Heap_Size       EQU     0x00000000
+
+                AREA    HEAP, NOINIT, READWRITE, ALIGN=3
+__heap_base
+Heap_Mem        SPACE   Heap_Size
+__heap_limit
+
+				IMPORT xPortPendSVHandler
+				IMPORT xPortSysTickHandler
+				IMPORT vPortSVCHandler
+				IMPORT vUARTInterruptHandler
+;				IMPORT vTimer2IntHandler
+
+                PRESERVE8
+                THUMB
+
+
+; Vector Table Mapped to Address 0 at Reset
+
+                AREA    RESET, DATA, READONLY
+                EXPORT  __Vectors
+
+__Vectors       DCD     __initial_sp              ; Top of Stack
+                DCD     Reset_Handler             ; Reset Handler
+                DCD     NMI_Handler               ; NMI Handler
+                DCD     HardFault_Handler         ; Hard Fault Handler
+                DCD     MemManage_Handler         ; MPU Fault Handler
+                DCD     BusFault_Handler          ; Bus Fault Handler
+                DCD     UsageFault_Handler        ; Usage Fault Handler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     vPortSVCHandler           ; SVCall Handler
+                DCD     DebugMon_Handler          ; Debug Monitor Handler
+                DCD     0                         ; Reserved
+                DCD     xPortPendSVHandler        ; PendSV Handler
+                DCD     xPortSysTickHandler       ; SysTick Handler
+
+                ; External Interrupts
+                DCD     WWDG_IRQHandler           ; Window Watchdog
+                DCD     PVD_IRQHandler            ; PVD through EXTI Line detect
+                DCD     TAMPER_IRQHandler         ; Tamper
+                DCD     RTC_IRQHandler            ; RTC
+                DCD     FLASH_IRQHandler          ; Flash
+                DCD     RCC_IRQHandler            ; RCC
+                DCD     EXTI0_IRQHandler          ; EXTI Line 0
+                DCD     EXTI1_IRQHandler          ; EXTI Line 1
+                DCD     EXTI2_IRQHandler          ; EXTI Line 2
+                DCD     EXTI3_IRQHandler          ; EXTI Line 3
+                DCD     EXTI4_IRQHandler          ; EXTI Line 4
+                DCD     DMAChannel1_IRQHandler    ; DMA Channel 1
+                DCD     DMAChannel2_IRQHandler    ; DMA Channel 2
+                DCD     DMAChannel3_IRQHandler    ; DMA Channel 3
+                DCD     DMAChannel4_IRQHandler    ; DMA Channel 4
+                DCD     DMAChannel5_IRQHandler    ; DMA Channel 5
+                DCD     DMAChannel6_IRQHandler    ; DMA Channel 6
+                DCD     DMAChannel7_IRQHandler    ; DMA Channel 7
+                DCD     ADC_IRQHandler            ; ADC
+                DCD     USB_HP_CAN_TX_IRQHandler  ; USB High Priority or CAN TX
+                DCD     USB_LP_CAN_RX0_IRQHandler ; USB Low  Priority or CAN RX0
+                DCD     CAN_RX1_IRQHandler        ; CAN RX1
+                DCD     CAN_SCE_IRQHandler        ; CAN SCE
+                DCD     EXTI9_5_IRQHandler        ; EXTI Line 9..5
+                DCD     TIM1_BRK_IRQHandler       ; TIM1 Break
+                DCD     TIM1_UP_IRQHandler        ; TIM1 Update
+                DCD     TIM1_TRG_COM_IRQHandler   ; TIM1 Trigger and Commutation
+                DCD     TIM1_CC_IRQHandler        ; TIM1 Capture Compare
+                DCD     TIM2_IRQHandler           ; TIM2
+                DCD     TIM3_IRQHandler           ; TIM3
+                DCD     TIM4_IRQHandler           ; TIM4
+                DCD     I2C1_EV_IRQHandler        ; I2C1 Event
+                DCD     I2C1_ER_IRQHandler        ; I2C1 Error
+                DCD     I2C2_EV_IRQHandler        ; I2C2 Event
+                DCD     I2C2_ER_IRQHandler        ; I2C2 Error
+                DCD     SPI1_IRQHandler           ; SPI1
+                DCD     SPI2_IRQHandler           ; SPI2
+                DCD     vUARTInterruptHandler     ; USART1
+                DCD     USART2_IRQHandler         ; USART2
+                DCD     USART3_IRQHandler         ; USART3
+                DCD     EXTI15_10_IRQHandler      ; EXTI Line 15..10
+                DCD     RTCAlarm_IRQHandler       ; RTC Alarm through EXTI Line
+                DCD     USBWakeUp_IRQHandler      ; USB Wakeup from suspend
+
+
+                AREA    |.text|, CODE, READONLY
+
+
+; Reset Handler
+
+Reset_Handler   PROC
+                EXPORT  Reset_Handler             [WEAK]
+                IMPORT  __main
+S                LDR     R0, =__main
+                BX      R0
+                ENDP
+
+
+; Dummy Exception Handlers (infinite loops which can be modified)                
+
+NMI_Handler     PROC
+                EXPORT  NMI_Handler               [WEAK]
+                B       .
+                ENDP
+HardFault_Handler\
+                PROC
+                EXPORT  HardFault_Handler         [WEAK]
+                B       .
+                ENDP
+MemManage_Handler\
+                PROC
+                EXPORT  MemManage_Handler         [WEAK]
+                B       .
+                ENDP
+BusFault_Handler\
+                PROC
+                EXPORT  BusFault_Handler          [WEAK]
+                B       .
+                ENDP
+UsageFault_Handler\
+                PROC
+                EXPORT  UsageFault_Handler        [WEAK]
+                B       .
+                ENDP
+SVC_Handler     PROC
+                EXPORT  SVC_Handler               [WEAK]
+                B       .
+                ENDP
+DebugMon_Handler\
+                PROC
+                EXPORT  DebugMon_Handler          [WEAK]
+                B       .
+                ENDP
+PendSV_Handler  PROC
+                EXPORT  PendSV_Handler            [WEAK]
+                B       .
+                ENDP
+SysTick_Handler PROC
+                EXPORT  SysTick_Handler           [WEAK]
+                B       .
+                ENDP
+
+Default_Handler PROC
+
+                EXPORT  WWDG_IRQHandler           [WEAK]
+                EXPORT  PVD_IRQHandler            [WEAK]
+                EXPORT  TAMPER_IRQHandler         [WEAK]
+                EXPORT  RTC_IRQHandler            [WEAK]
+                EXPORT  FLASH_IRQHandler          [WEAK]
+                EXPORT  RCC_IRQHandler            [WEAK]
+                EXPORT  EXTI0_IRQHandler          [WEAK]
+                EXPORT  EXTI1_IRQHandler          [WEAK]
+                EXPORT  EXTI2_IRQHandler          [WEAK]
+                EXPORT  EXTI3_IRQHandler          [WEAK]
+                EXPORT  EXTI4_IRQHandler          [WEAK]
+                EXPORT  DMAChannel1_IRQHandler    [WEAK]
+                EXPORT  DMAChannel2_IRQHandler    [WEAK]
+                EXPORT  DMAChannel3_IRQHandler    [WEAK]
+                EXPORT  DMAChannel4_IRQHandler    [WEAK]
+                EXPORT  DMAChannel5_IRQHandler    [WEAK]
+                EXPORT  DMAChannel6_IRQHandler    [WEAK]
+                EXPORT  DMAChannel7_IRQHandler    [WEAK]
+                EXPORT  ADC_IRQHandler            [WEAK]
+                EXPORT  USB_HP_CAN_TX_IRQHandler  [WEAK]
+                EXPORT  USB_LP_CAN_RX0_IRQHandler [WEAK]
+                EXPORT  CAN_RX1_IRQHandler        [WEAK]
+                EXPORT  CAN_SCE_IRQHandler        [WEAK]
+                EXPORT  EXTI9_5_IRQHandler        [WEAK]
+                EXPORT  TIM1_BRK_IRQHandler       [WEAK]
+                EXPORT  TIM1_UP_IRQHandler        [WEAK]
+                EXPORT  TIM1_TRG_COM_IRQHandler   [WEAK]
+                EXPORT  TIM1_CC_IRQHandler        [WEAK]
+                EXPORT  TIM2_IRQHandler           [WEAK]
+                EXPORT  TIM3_IRQHandler           [WEAK]
+                EXPORT  TIM4_IRQHandler           [WEAK]
+                EXPORT  I2C1_EV_IRQHandler        [WEAK]
+                EXPORT  I2C1_ER_IRQHandler        [WEAK]
+                EXPORT  I2C2_EV_IRQHandler        [WEAK]
+                EXPORT  I2C2_ER_IRQHandler        [WEAK]
+                EXPORT  SPI1_IRQHandler           [WEAK]
+                EXPORT  SPI2_IRQHandler           [WEAK]
+                EXPORT  USART1_IRQHandler         [WEAK]
+                EXPORT  USART2_IRQHandler         [WEAK]
+                EXPORT  USART3_IRQHandler         [WEAK]
+                EXPORT  EXTI15_10_IRQHandler      [WEAK]
+                EXPORT  RTCAlarm_IRQHandler       [WEAK]
+                EXPORT  USBWakeUp_IRQHandler      [WEAK]
+
+WWDG_IRQHandler
+PVD_IRQHandler
+TAMPER_IRQHandler
+RTC_IRQHandler
+FLASH_IRQHandler
+RCC_IRQHandler
+EXTI0_IRQHandler
+EXTI1_IRQHandler
+EXTI2_IRQHandler
+EXTI3_IRQHandler
+EXTI4_IRQHandler
+DMAChannel1_IRQHandler
+DMAChannel2_IRQHandler
+DMAChannel3_IRQHandler
+DMAChannel4_IRQHandler
+DMAChannel5_IRQHandler
+DMAChannel6_IRQHandler
+DMAChannel7_IRQHandler
+ADC_IRQHandler
+USB_HP_CAN_TX_IRQHandler
+USB_LP_CAN_RX0_IRQHandler
+CAN_RX1_IRQHandler
+CAN_SCE_IRQHandler
+EXTI9_5_IRQHandler
+TIM1_BRK_IRQHandler
+TIM1_UP_IRQHandler
+TIM1_TRG_COM_IRQHandler
+TIM1_CC_IRQHandler
+TIM2_IRQHandler
+TIM3_IRQHandler
+TIM4_IRQHandler
+I2C1_EV_IRQHandler
+I2C1_ER_IRQHandler
+I2C2_EV_IRQHandler
+I2C2_ER_IRQHandler
+SPI1_IRQHandler
+SPI2_IRQHandler
+USART1_IRQHandler
+USART2_IRQHandler
+USART3_IRQHandler
+EXTI15_10_IRQHandler
+RTCAlarm_IRQHandler
+USBWakeUp_IRQHandler
+
+                B       .
+
+                ENDP
+
+
+                ALIGN
+
+
+; User Initial Stack & Heap
+
+                IF      :DEF:__MICROLIB
+                
+                EXPORT  __initial_sp
+                EXPORT  __heap_base
+                EXPORT  __heap_limit
+                
+                ELSE
+                
+                IMPORT  __use_two_region_memory
+                EXPORT  __user_initial_stackheap
+__user_initial_stackheap
+
+                LDR     R0, =  Heap_Mem
+                LDR     R1, =(Stack_Mem + Stack_Size)
+                LDR     R2, = (Heap_Mem +  Heap_Size)
+                LDR     R3, = Stack_Mem
+                BX      LR
+
+                ALIGN
+
+                ENDIF
+
+
+                END
diff --git a/assert.h b/assert.h
new file mode 100644
index 0000000..b5c30c5
--- /dev/null
+++ b/assert.h
@@ -0,0 +1,9 @@
+
+
+
+// Debugging: enable "assert"
+
+#undef assert
+#define assert(expr) ((expr) ? (void)0 : assert_failed(__FILE__, __LINE__))
+void assert_failed(u8* file, u32 line);
+
diff --git a/cortexm3_macro_rvds.d b/cortexm3_macro_rvds.d
new file mode 100644
index 0000000..039b986
--- /dev/null
+++ b/cortexm3_macro_rvds.d
@@ -0,0 +1 @@
+.\cortexm3_macro_rvds.o: STM32F10xFWLib\src\cortexm3_macro_rvds.s
diff --git a/cortexm3_macro_rvds.lst b/cortexm3_macro_rvds.lst
new file mode 100644
index 0000000..8b1d8f4
--- /dev/null
+++ b/cortexm3_macro_rvds.lst
@@ -0,0 +1,612 @@
+
+
+
+ARM Macro Assembler    Page 1 
+
+
+    1 00000000         ;******************** (C) COPYRIGHT 2007 STMicroelectron
+                       ics ********************
+    2 00000000         ;* File Name          : cortexm3_macro.s
+    3 00000000         ;* Author             : MCD Application Team
+    4 00000000         ;* Date First Issued  : 09/29/2006
+    5 00000000         ;* Description        : Instruction wrappers for special
+                        Cortex-M3 instructions.
+    6 00000000         ;*******************************************************
+                       ************************
+    7 00000000         ; History:
+    8 00000000         ; 05/21/2007: V0.3
+    9 00000000         ; 04/02/2007: V0.2
+   10 00000000         ; 02/05/2007: V0.1
+   11 00000000         ; 09/29/2006: V0.01
+   12 00000000         ;*******************************************************
+                       ************************
+   13 00000000         ; THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS A
+                       T PROVIDING CUSTOMERS
+   14 00000000         ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN OR
+                       DER FOR THEM TO SAVE TIME.
+   15 00000000         ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIAB
+                       LE FOR ANY DIRECT,
+   16 00000000         ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY 
+                       CLAIMS ARISING FROM THE
+   17 00000000         ; CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOM
+                       ERS OF THE CODING
+   18 00000000         ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR 
+                       PRODUCTS.
+   19 00000000         ;*******************************************************
+                       ************************
+   20 00000000         
+   21 00000000                 THUMB
+   22 00000000                 REQUIRE8
+   23 00000000                 PRESERVE8
+   24 00000000         
+   25 00000000                 AREA             |.text|, CODE, READONLY, ALIGN=
+2
+   26 00000000         
+   27 00000000         ; Exported functions
+   28 00000000                 EXPORT           __WFI
+   29 00000000                 EXPORT           __WFE
+   30 00000000                 EXPORT           __SEV
+   31 00000000                 EXPORT           __ISB
+   32 00000000                 EXPORT           __DSB
+   33 00000000                 EXPORT           __DMB
+   34 00000000                 EXPORT           __SVC
+   35 00000000                 EXPORT           __MRS_CONTROL
+   36 00000000                 EXPORT           __MSR_CONTROL
+   37 00000000                 EXPORT           __MRS_PSP
+   38 00000000                 EXPORT           __MSR_PSP
+   39 00000000                 EXPORT           __MRS_MSP
+   40 00000000                 EXPORT           __MSR_MSP
+   41 00000000                 EXPORT           __SETPRIMASK
+   42 00000000                 EXPORT           __RESETPRIMASK
+   43 00000000                 EXPORT           __SETFAULTMASK
+   44 00000000                 EXPORT           __RESETFAULTMASK
+   45 00000000                 EXPORT           __BASEPRICONFIG
+   46 00000000                 EXPORT           __GetBASEPRI
+   47 00000000                 EXPORT           __REV_HalfWord
+
+
+
+ARM Macro Assembler    Page 2 
+
+
+   48 00000000                 EXPORT           __REV_Word
+   49 00000000         
+   50 00000000         ;*******************************************************
+                       ************************
+   51 00000000         ; Function Name  : __WFI
+   52 00000000         ; Description    : Assembler function for the WFI instru
+                       ction.
+   53 00000000         ; Input          : None
+   54 00000000         ; Return         : None
+   55 00000000         ;*******************************************************
+                       ************************
+   56 00000000         __WFI
+   57 00000000         
+   58 00000000 BF30            WFI
+   59 00000002 4770            BX               r14
+   60 00000004         
+   61 00000004         ;*******************************************************
+                       ************************
+   62 00000004         ; Function Name  : __WFE
+   63 00000004         ; Description    : Assembler function for the WFE instru
+                       ction.
+   64 00000004         ; Input          : None
+   65 00000004         ; Return         : None
+   66 00000004         ;*******************************************************
+                       ************************
+   67 00000004         __WFE
+   68 00000004         
+   69 00000004 BF20            WFE
+   70 00000006 4770            BX               r14
+   71 00000008         
+   72 00000008         ;*******************************************************
+                       ************************
+   73 00000008         ; Function Name  : __SEV
+   74 00000008         ; Description    : Assembler function for the SEV instru
+                       ction.
+   75 00000008         ; Input          : None
+   76 00000008         ; Return         : None
+   77 00000008         ;*******************************************************
+                       ************************
+   78 00000008         __SEV
+   79 00000008         
+   80 00000008 BF40            SEV
+   81 0000000A 4770            BX               r14
+   82 0000000C         
+   83 0000000C         ;*******************************************************
+                       ************************
+   84 0000000C         ; Function Name  : __ISB
+   85 0000000C         ; Description    : Assembler function for the ISB instru
+                       ction.
+   86 0000000C         ; Input          : None
+   87 0000000C         ; Return         : None
+   88 0000000C         ;*******************************************************
+                       ************************
+   89 0000000C         __ISB
+   90 0000000C         
+   91 0000000C F3BF 8F6F       ISB
+   92 00000010 4770            BX               r14
+   93 00000012         
+   94 00000012         ;*******************************************************
+
+
+
+ARM Macro Assembler    Page 3 
+
+
+                       ************************
+   95 00000012         ; Function Name  : __DSB
+   96 00000012         ; Description    : Assembler function for the DSB instru
+                       ction.
+   97 00000012         ; Input          : None
+   98 00000012         ; Return         : None
+   99 00000012         ;*******************************************************
+                       ************************
+  100 00000012         __DSB
+  101 00000012         
+  102 00000012 F3BF 8F4F       DSB
+  103 00000016 4770            BX               r14
+  104 00000018         
+  105 00000018         ;*******************************************************
+                       ************************
+  106 00000018         ; Function Name  : __DMB
+  107 00000018         ; Description    : Assembler function for the DMB instru
+                       ction.
+  108 00000018         ; Input          : None
+  109 00000018         ; Return         : None
+  110 00000018         ;*******************************************************
+                       ************************
+  111 00000018         __DMB
+  112 00000018         
+  113 00000018 F3BF 8F5F       DMB
+  114 0000001C 4770            BX               r14
+  115 0000001E         
+  116 0000001E         ;*******************************************************
+                       ************************
+  117 0000001E         ; Function Name  : __SVC
+  118 0000001E         ; Description    : Assembler function for the SVC instru
+                       ction.
+  119 0000001E         ; Input          : None
+  120 0000001E         ; Return         : None
+  121 0000001E         ;*******************************************************
+                       ************************
+  122 0000001E         __SVC
+  123 0000001E         
+  124 0000001E DF01            SVC              0x01
+  125 00000020 4770            BX               r14
+  126 00000022         
+  127 00000022         ;*******************************************************
+                       ************************
+  128 00000022         ; Function Name  : __MRS_CONTROL
+  129 00000022         ; Description    : Assembler function for the MRS instru
+                       ction.
+  130 00000022         ; Input          : None
+  131 00000022         ; Return         : - r0 : Cortex-M3 CONTROL register val
+                       ue.
+  132 00000022         ;*******************************************************
+                       ************************
+  133 00000022         __MRS_CONTROL
+  134 00000022         
+  135 00000022 F3EF 8014       MRS              r0, CONTROL
+  136 00000026 4770            BX               r14
+  137 00000028         
+  138 00000028         ;*******************************************************
+                       ************************
+  139 00000028         ; Function Name  : __MSR_CONTROL
+
+
+
+ARM Macro Assembler    Page 4 
+
+
+  140 00000028         ; Description    : Assembler function for the MSR instru
+                       ction.
+  141 00000028         ; Input          : - r0 : Cortex-M3 CONTROL register new
+                        value.  
+  142 00000028         ; Return         : None
+  143 00000028         ;*******************************************************
+                       ************************
+  144 00000028         __MSR_CONTROL
+  145 00000028         
+  146 00000028 F380 8814       MSR              CONTROL, r0
+  147 0000002C F3BF 8F6F       ISB
+  148 00000030 4770            BX               r14
+  149 00000032         
+  150 00000032         ;*******************************************************
+                       ************************
+  151 00000032         ; Function Name  : __MRS_PSP
+  152 00000032         ; Description    : Assembler function for the MRS instru
+                       ction.
+  153 00000032         ; Input          : None
+  154 00000032         ; Return         : - r0 : Process Stack value.
+  155 00000032         ;*******************************************************
+                       ************************
+  156 00000032         __MRS_PSP
+  157 00000032         
+  158 00000032 F3EF 8009       MRS              r0, PSP
+  159 00000036 4770            BX               r14
+  160 00000038         
+  161 00000038         ;*******************************************************
+                       ************************
+  162 00000038         ; Function Name  : __MSR_PSP
+  163 00000038         ; Description    : Assembler function for the MSR instru
+                       ction.
+  164 00000038         ; Input          : - r0 : Process Stack new value.  
+  165 00000038         ; Return         : None
+  166 00000038         ;*******************************************************
+                       ************************
+  167 00000038         __MSR_PSP
+  168 00000038         
+  169 00000038 F380 8809       MSR              PSP, r0     ; set Process Stack
+                                                             value
+  170 0000003C 4770            BX               r14
+  171 0000003E         
+  172 0000003E         ;*******************************************************
+                       ************************
+  173 0000003E         ; Function Name  : __MRS_MSP
+  174 0000003E         ; Description    : Assembler function for the MRS instru
+                       ction.
+  175 0000003E         ; Input          : None
+  176 0000003E         ; Return         : - r0 : Main Stack value.
+  177 0000003E         ;*******************************************************
+                       ************************
+  178 0000003E         __MRS_MSP
+  179 0000003E         
+  180 0000003E F3EF 8008       MRS              r0, MSP
+  181 00000042 4770            BX               r14
+  182 00000044         
+  183 00000044         ;*******************************************************
+                       ************************
+  184 00000044         ; Function Name  : __MSR_MSP
+
+
+
+ARM Macro Assembler    Page 5 
+
+
+  185 00000044         ; Description    : Assembler function for the MSR instru
+                       ction.
+  186 00000044         ; Input          : - r0 : Main Stack new value.  
+  187 00000044         ; Return         : None
+  188 00000044         ;*******************************************************
+                       ************************
+  189 00000044         __MSR_MSP
+  190 00000044         
+  191 00000044 F380 8808       MSR              MSP, r0     ; set Main Stack va
+                                                            lue
+  192 00000048 4770            BX               r14
+  193 0000004A         
+  194 0000004A         ;*******************************************************
+                       ************************
+  195 0000004A         ; Function Name  : __SETPRIMASK
+  196 0000004A         ; Description    : Assembler function to set the PRIMASK
+                       .
+  197 0000004A         ; Input          : None 
+  198 0000004A         ; Return         : None
+  199 0000004A         ;*******************************************************
+                       ************************
+  200 0000004A         __SETPRIMASK
+  201 0000004A         
+  202 0000004A B672            CPSID            i
+  203 0000004C 4770            BX               r14
+  204 0000004E         
+  205 0000004E         ;*******************************************************
+                       ************************
+  206 0000004E         ; Function Name  : __RESETPRIMASK
+  207 0000004E         ; Description    : Assembler function to reset the PRIMA
+                       SK.
+  208 0000004E         ; Input          : None 
+  209 0000004E         ; Return         : None
+  210 0000004E         ;*******************************************************
+                       ************************
+  211 0000004E         __RESETPRIMASK
+  212 0000004E         
+  213 0000004E B662            CPSIE            i
+  214 00000050 4770            BX               r14
+  215 00000052         
+  216 00000052         ;*******************************************************
+                       ************************
+  217 00000052         ; Function Name  : __SETFAULTMASK
+  218 00000052         ; Description    : Assembler function to set the FAULTMA
+                       SK.
+  219 00000052         ; Input          : None 
+  220 00000052         ; Return         : None
+  221 00000052         ;*******************************************************
+                       ************************
+  222 00000052         __SETFAULTMASK
+  223 00000052         
+  224 00000052 B671            CPSID            f
+  225 00000054 4770            BX               r14
+  226 00000056         
+  227 00000056         ;*******************************************************
+                       ************************
+  228 00000056         ; Function Name  : __RESETFAULTMASK
+  229 00000056         ; Description    : Assembler function to reset the FAULT
+                       MASK.
+
+
+
+ARM Macro Assembler    Page 6 
+
+
+  230 00000056         ; Input          : None 
+  231 00000056         ; Return         : None
+  232 00000056         ;*******************************************************
+                       ************************
+  233 00000056         __RESETFAULTMASK
+  234 00000056         
+  235 00000056 B661            CPSIE            f
+  236 00000058 4770            BX               r14
+  237 0000005A         
+  238 0000005A         ;*******************************************************
+                       ************************
+  239 0000005A         ; Function Name  : __BASEPRICONFIG
+  240 0000005A         ; Description    : Assembler function to set the Base Pr
+                       iority.
+  241 0000005A         ; Input          : - r0 : Base Priority new value  
+  242 0000005A         ; Return         : None
+  243 0000005A         ;*******************************************************
+                       ************************
+  244 0000005A         __BASEPRICONFIG
+  245 0000005A         
+  246 0000005A F380 8811       MSR              BASEPRI, r0
+  247 0000005E 4770            BX               r14
+  248 00000060         
+  249 00000060         ;*******************************************************
+                       ************************
+  250 00000060         ; Function Name  : __GetBASEPRI
+  251 00000060         ; Description    : Assembler function to get the Base Pr
+                       iority value.
+  252 00000060         ; Input          : None 
+  253 00000060         ; Return         : - r0 : Base Priority value 
+  254 00000060         ;*******************************************************
+                       ************************
+  255 00000060         __GetBASEPRI
+  256 00000060         
+  257 00000060 F3EF 8012       MRS              r0, BASEPRI_MAX
+  258 00000064 4770            BX               r14
+  259 00000066         
+  260 00000066         ;*******************************************************
+                       ************************
+  261 00000066         ; Function Name  : __REV_HalfWord
+  262 00000066         ; Description    : Reverses the byte order in HalfWord(1
+                       6-bit) input variable.
+  263 00000066         ; Input          : - r0 : specifies the input variable
+  264 00000066         ; Return         : - r0 : holds tve variable value after
+                        byte reversing.
+  265 00000066         ;*******************************************************
+                       ************************
+  266 00000066         __REV_HalfWord
+  267 00000066         
+  268 00000066 BA40            REV16            r0, r0
+  269 00000068 4770            BX               r14
+  270 0000006A         
+  271 0000006A         ;*******************************************************
+                       ************************
+  272 0000006A         ; Function Name  : __REV_Word
+  273 0000006A         ; Description    : Reverses the byte order in Word(32-bi
+                       t) input variable.
+  274 0000006A         ; Input          : - r0 : specifies the input variable
+  275 0000006A         ; Return         : - r0 : holds tve variable value after
+
+
+
+ARM Macro Assembler    Page 7 
+
+
+                        byte reversing.
+  276 0000006A         ;*******************************************************
+                       ************************
+  277 0000006A         __REV_Word
+  278 0000006A         
+  279 0000006A BA00            REV              r0, r0
+  280 0000006C 4770            BX               r14
+  281 0000006E         
+  282 0000006E                 END
+Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\cortex
+m3_macro_rvds.d -o.\cortexm3_macro_rvds.o -IC:\Keil_v5\ARM\RV31\INC -IC:\Keil_v
+5\ARM\CMSIS\Include -IC:\Keil_v5\ARM\Inc\ST\STM32F10x --predefine="__EVAL SETA 
+1" --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 513" --l
+ist=.\cortexm3_macro_rvds.lst STM32F10xFWLib\src\cortexm3_macro_rvds.s
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+Relocatable symbols
+
+.text 00000000
+
+Symbol: .text
+   Definitions
+      At line 25 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      None
+Comment: .text unused
+__BASEPRICONFIG 0000005A
+
+Symbol: __BASEPRICONFIG
+   Definitions
+      At line 244 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 45 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __BASEPRICONFIG used once
+__DMB 00000018
+
+Symbol: __DMB
+   Definitions
+      At line 111 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 33 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __DMB used once
+__DSB 00000012
+
+Symbol: __DSB
+   Definitions
+      At line 100 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 32 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __DSB used once
+__GetBASEPRI 00000060
+
+Symbol: __GetBASEPRI
+   Definitions
+      At line 255 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 46 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __GetBASEPRI used once
+__ISB 0000000C
+
+Symbol: __ISB
+   Definitions
+      At line 89 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 31 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __ISB used once
+__MRS_CONTROL 00000022
+
+Symbol: __MRS_CONTROL
+   Definitions
+      At line 133 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 35 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __MRS_CONTROL used once
+__MRS_MSP 0000003E
+
+Symbol: __MRS_MSP
+
+
+
+ARM Macro Assembler    Page 2 Alphabetic symbol ordering
+Relocatable symbols
+
+   Definitions
+      At line 178 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 39 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __MRS_MSP used once
+__MRS_PSP 00000032
+
+Symbol: __MRS_PSP
+   Definitions
+      At line 156 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 37 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __MRS_PSP used once
+__MSR_CONTROL 00000028
+
+Symbol: __MSR_CONTROL
+   Definitions
+      At line 144 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 36 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __MSR_CONTROL used once
+__MSR_MSP 00000044
+
+Symbol: __MSR_MSP
+   Definitions
+      At line 189 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 40 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __MSR_MSP used once
+__MSR_PSP 00000038
+
+Symbol: __MSR_PSP
+   Definitions
+      At line 167 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 38 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __MSR_PSP used once
+__RESETFAULTMASK 00000056
+
+Symbol: __RESETFAULTMASK
+   Definitions
+      At line 233 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 44 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __RESETFAULTMASK used once
+__RESETPRIMASK 0000004E
+
+Symbol: __RESETPRIMASK
+   Definitions
+      At line 211 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 42 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __RESETPRIMASK used once
+__REV_HalfWord 00000066
+
+Symbol: __REV_HalfWord
+   Definitions
+      At line 266 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+
+
+
+ARM Macro Assembler    Page 3 Alphabetic symbol ordering
+Relocatable symbols
+
+      At line 47 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __REV_HalfWord used once
+__REV_Word 0000006A
+
+Symbol: __REV_Word
+   Definitions
+      At line 277 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 48 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __REV_Word used once
+__SETFAULTMASK 00000052
+
+Symbol: __SETFAULTMASK
+   Definitions
+      At line 222 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 43 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __SETFAULTMASK used once
+__SETPRIMASK 0000004A
+
+Symbol: __SETPRIMASK
+   Definitions
+      At line 200 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 41 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __SETPRIMASK used once
+__SEV 00000008
+
+Symbol: __SEV
+   Definitions
+      At line 78 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 30 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __SEV used once
+__SVC 0000001E
+
+Symbol: __SVC
+   Definitions
+      At line 122 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 34 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __SVC used once
+__WFE 00000004
+
+Symbol: __WFE
+   Definitions
+      At line 67 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 29 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __WFE used once
+__WFI 00000000
+
+Symbol: __WFI
+   Definitions
+      At line 56 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+   Uses
+      At line 28 in file STM32F10xFWLib\src\cortexm3_macro_rvds.s
+Comment: __WFI used once
+22 symbols
+
+
+
+ARM Macro Assembler    Page 4 Alphabetic symbol ordering
+Relocatable symbols
+
+355 symbols in table
diff --git a/cortexm3_macro_rvds.o b/cortexm3_macro_rvds.o
new file mode 100644
index 0000000..10ad00f
Binary files /dev/null and b/cortexm3_macro_rvds.o differ
diff --git a/elevator_simulator.ini b/elevator_simulator.ini
new file mode 100644
index 0000000..cfcab58
--- /dev/null
+++ b/elevator_simulator.ini
@@ -0,0 +1,38 @@
+SIGNAL void simulateCarMotor(void) {
+  float currentPos;
+  int CCR1_value;
+  int CCR2_value;
+  currentPos = 0.0;
+  CCR1_value = 0;
+  CCR2_value = 0;
+	
+
+  while (1) {
+		
+    if (TIM3_ARR > 0) {
+      currentPos += ((float)TIM3_CCR1 / (float)TIM3_ARR) * 0.125;
+      currentPos -= ((float)TIM3_CCR2 / (float)TIM3_ARR) * 0.125;
+    }
+    
+		printf("%f\n", currentPos);
+		
+    // set the pulse sensor
+    if ((currentPos - (float)(int)currentPos < 0.25) ||
+        (currentPos - (float)(int)currentPos >= 0.75)) {
+      PORTC |= 1 << 9;
+		}
+    else {
+			PORTC &= ~(1 << 9);
+		}
+
+    // set the floor sensor
+    if (currentPos <= 0.5 ||
+        currentPos >= 399.5 && currentPos <= 400.5 ||
+        currentPos >= 799.5)
+      PORTC |= 1 << 7;
+    else
+      PORTC &= ~(1 << 7);
+
+    swatch(0.0025);
+  }
+}
\ No newline at end of file
diff --git a/global.h b/global.h
new file mode 100644
index 0000000..9ef08c9
--- /dev/null
+++ b/global.h
@@ -0,0 +1,68 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * This file defines datastructures used for communication between
+ * the various modules
+ */
+
+#ifndef GLOBAL_H
+#define GLOBAL_H
+
+#include "FreeRTOS.h"
+#include "stm32f10x_type.h"
+#include "queue.h"
+
+/**
+ * Events that can occur during execution. Those events
+ * are generated by the PinListener module, and are
+ * in the end consumed by the Planner module
+ */
+typedef enum {
+  UNASSIGNED = 0,
+
+  // Elevator request, either from within the elevator
+  // or at a floor
+  TO_FLOOR_1 = 1, TO_FLOOR_2, TO_FLOOR_3,
+
+  // The elevetor has arrived at a floor, or has just
+  // left a floor
+  // NB: this does not mean that the elevator
+  //     has stopped! The elevator might just be passing by
+  //     a floor
+  ARRIVED_AT_FLOOR, LEFT_FLOOR,
+
+  // The doors have been closed or opened
+  DOORS_CLOSED, DOORS_OPENING,
+
+  // The stop button has been pressed or released
+  STOP_PRESSED, STOP_RELEASED
+} PinEvent;
+
+/**
+ * Queue on which events are propagated
+ */
+extern xQueueHandle pinEventQueue;
+
+/**
+ * Query the current position of the elevator car. The
+ * position is provided by the PositionTracker module;
+ * the unit are "cm"
+ */
+s32 getCarPosition(void);
+
+/**
+ * Tell the elevator motor to move the car to a particular
+ * place (unit are "cm")
+ */
+void setCarTargetPosition(s32 target);
+
+/**
+ * Emergency stop for the elevator motor
+ */
+void setCarMotorStopped(u8 stopped);
+
+#endif
diff --git a/heap_2.crf b/heap_2.crf
new file mode 100644
index 0000000..213f4ed
Binary files /dev/null and b/heap_2.crf differ
diff --git a/heap_2.d b/heap_2.d
new file mode 100644
index 0000000..45a53b3
--- /dev/null
+++ b/heap_2.d
@@ -0,0 +1,11 @@
+.\heap_2.o: FreeRTOS\src\heap_2.c
+.\heap_2.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
+.\heap_2.o: .\FreeRTOS\inc\FreeRTOS.h
+.\heap_2.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\heap_2.o: .\FreeRTOS\inc\projdefs.h
+.\heap_2.o: .\FreeRTOSConfig.h
+.\heap_2.o: .\FreeRTOS\inc\portable.h
+.\heap_2.o: .\FreeRTOS\inc\portmacro.h
+.\heap_2.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\heap_2.o: .\FreeRTOS\inc\task.h
+.\heap_2.o: .\FreeRTOS\inc\list.h
diff --git a/heap_2.o b/heap_2.o
new file mode 100644
index 0000000..3929555
Binary files /dev/null and b/heap_2.o differ
diff --git a/lab_env.plg b/lab_env.plg
new file mode 100644
index 0000000..7899cc0
--- /dev/null
+++ b/lab_env.plg
@@ -0,0 +1,1226 @@
+<html>
+<body>
+<pre>
+<h1>µVision Build Log</h1>
+<h2>Project:</h2>
+C:\Keil\lab_env\RTOSDemo.uvproj
+Project File Date:  01/18/2011
+
+<h2>Output:</h2>
+Build target 'Target 1'
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling main.c...
+main.c(8): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling setup.c...
+setup.c(7): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling heap_2.c...
+FreeRTOS\src\heap_2.c(69): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling list.c...
+FreeRTOS\src\list.c(56): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling port.c...
+FreeRTOS\src\port.c(59): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling queue.c...
+FreeRTOS\src\queue.c(62): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling tasks.c...
+FreeRTOS\src\tasks.c(64): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling serial.c...
+FreeRTOS\src\serial.c(59): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+Target not created
+Build target 'Target 1'
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling main.c...
+main.c(8): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling setup.c...
+setup.c(7): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling heap_2.c...
+FreeRTOS\src\heap_2.c(69): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling list.c...
+FreeRTOS\src\list.c(56): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling port.c...
+FreeRTOS\src\port.c(59): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling queue.c...
+FreeRTOS\src\queue.c(62): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling tasks.c...
+FreeRTOS\src\tasks.c(64): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+compiling serial.c...
+FreeRTOS\src\serial.c(59): error:  #5: cannot open source input file "FreeRTOS.h": No such file or directory
+Target not created
+Build target 'Target 1'
+compiling stm32f10x_gpio.c...
+STM32F10xFWLib\src\stm32f10x_gpio.c(121): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(278): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(319): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(392): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(455): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(506): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_lib.c...
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling stm32f10x_rcc.c...
+STM32F10xFWLib\src\stm32f10x_rcc.c(171): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(212): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(266): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(314): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(367): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(400): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(466): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(520): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(549): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(588): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(612): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(631): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(743): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(774): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(806): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(836): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(867): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(891): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(907): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(928): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(960): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1029): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1062): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_spi.c...
+STM32F10xFWLib\src\stm32f10x_spi.c(96): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(182): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(216): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(253): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(310): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(336): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(364): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(404): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(435): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(481): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(515): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(547): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(590): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(634): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_systick.c...
+STM32F10xFWLib\src\stm32f10x_systick.c(53): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(76): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(95): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(125): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(167): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_tim.c...
+STM32F10xFWLib\src\stm32f10x_tim.c(159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(189): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(312): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(506): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(541): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(587): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(617): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(661): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(699): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(730): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(758): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(793): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(824): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(855): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(886): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(917): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(944): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(976): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1011): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1041): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1071): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1101): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1130): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1188): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1217): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1244): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1338): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1387): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1414): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1441): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1527): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1592): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1622): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1722): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1754): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1786): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1818): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1848): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1963): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1998): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2026): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2061): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_usart.c...
+STM32F10xFWLib\src\stm32f10x_usart.c(134): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(252): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(344): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(373): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(396): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(445): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(464): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(490): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(571): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(598): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(626): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(674): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(713): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(749): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(780): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(844): warning:  #223-D: function "assert" declared implicitly
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
+Clean started: Project: 'RTOSDemo'
+   deleting intermediate output files for target 'Target 1'
+Build target 'Target 1'
+assembling STM32F10x.s...
+compiling stm32f10x_gpio.c...
+STM32F10xFWLib\src\stm32f10x_gpio.c(121): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(278): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(319): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(392): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(455): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(506): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_lib.c...
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling stm32f10x_rcc.c...
+STM32F10xFWLib\src\stm32f10x_rcc.c(171): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(212): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(266): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(314): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(367): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(400): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(466): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(520): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(549): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(588): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(612): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(631): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(743): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(774): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(806): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(836): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(867): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(891): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(907): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(928): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(960): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1029): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1062): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_spi.c...
+STM32F10xFWLib\src\stm32f10x_spi.c(96): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(182): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(216): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(253): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(310): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(336): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(364): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(404): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(435): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(481): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(515): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(547): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(590): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(634): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_systick.c...
+STM32F10xFWLib\src\stm32f10x_systick.c(53): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(76): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(95): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(125): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(167): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_tim.c...
+STM32F10xFWLib\src\stm32f10x_tim.c(159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(189): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(312): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(506): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(541): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(587): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(617): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(661): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(699): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(730): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(758): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(793): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(824): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(855): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(886): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(917): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(944): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(976): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1011): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1041): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1071): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1101): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1130): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1188): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1217): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1244): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1338): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1387): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1414): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1441): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1527): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1592): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1622): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1722): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1754): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1786): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1818): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1848): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1963): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1998): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2026): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2061): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_usart.c...
+STM32F10xFWLib\src\stm32f10x_usart.c(134): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(252): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(344): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(373): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(396): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(445): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(464): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(490): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(571): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(598): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(626): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(674): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(713): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(749): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(780): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(844): warning:  #223-D: function "assert" declared implicitly
+assembling cortexm3_macro_rvds.s...
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
+Build target 'Target 1'
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
+Clean started: Project: 'RTOSDemo'
+   deleting intermediate output files for target 'Target 1'
+Build target 'Target 1'
+assembling STM32F10x.s...
+compiling stm32f10x_gpio.c...
+STM32F10xFWLib\src\stm32f10x_gpio.c(121): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(278): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(319): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(392): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(455): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(506): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_lib.c...
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling stm32f10x_rcc.c...
+STM32F10xFWLib\src\stm32f10x_rcc.c(171): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(212): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(266): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(314): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(367): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(400): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(466): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(520): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(549): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(588): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(612): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(631): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(743): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(774): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(806): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(836): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(867): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(891): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(907): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(928): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(960): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1029): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1062): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_spi.c...
+STM32F10xFWLib\src\stm32f10x_spi.c(96): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(182): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(216): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(253): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(310): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(336): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(364): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(404): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(435): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(481): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(515): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(547): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(590): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(634): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_systick.c...
+STM32F10xFWLib\src\stm32f10x_systick.c(53): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(76): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(95): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(125): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(167): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_tim.c...
+STM32F10xFWLib\src\stm32f10x_tim.c(159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(189): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(312): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(506): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(541): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(587): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(617): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(661): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(699): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(730): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(758): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(793): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(824): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(855): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(886): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(917): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(944): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(976): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1011): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1041): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1071): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1101): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1130): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1188): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1217): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1244): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1338): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1387): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1414): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1441): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1527): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1592): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1622): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1722): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1754): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1786): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1818): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1848): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1963): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1998): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2026): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2061): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_usart.c...
+STM32F10xFWLib\src\stm32f10x_usart.c(134): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(252): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(344): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(373): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(396): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(445): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(464): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(490): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(571): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(598): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(626): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(674): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(713): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(749): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(780): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(844): warning:  #223-D: function "assert" declared implicitly
+assembling cortexm3_macro_rvds.s...
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
+Build target 'Target 1'
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling stm32f10x_spi.c...
+STM32F10xFWLib\src\stm32f10x_spi.c(96): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(182): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(216): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(253): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(310): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(336): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(364): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(404): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(435): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(481): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(515): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(547): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(590): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(634): warning:  #223-D: function "assert" declared implicitly
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
+Clean started: Project: 'RTOSDemo'
+   deleting intermediate output files for target 'Target 1'
+Build target 'Target 1'
+assembling STM32F10x.s...
+compiling stm32f10x_gpio.c...
+STM32F10xFWLib\src\stm32f10x_gpio.c(121): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(278): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(319): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(392): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(455): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(506): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_lib.c...
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling stm32f10x_rcc.c...
+STM32F10xFWLib\src\stm32f10x_rcc.c(171): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(212): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(266): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(314): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(367): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(400): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(466): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(520): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(549): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(588): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(612): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(631): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(743): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(774): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(806): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(836): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(867): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(891): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(907): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(928): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(960): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1029): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1062): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_spi.c...
+STM32F10xFWLib\src\stm32f10x_spi.c(96): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(182): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(216): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(253): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(310): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(336): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(364): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(404): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(435): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(481): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(515): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(547): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(590): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(634): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_systick.c...
+STM32F10xFWLib\src\stm32f10x_systick.c(53): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(76): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(95): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(125): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(167): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_tim.c...
+STM32F10xFWLib\src\stm32f10x_tim.c(159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(189): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(312): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(506): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(541): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(587): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(617): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(661): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(699): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(730): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(758): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(793): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(824): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(855): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(886): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(917): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(944): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(976): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1011): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1041): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1071): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1101): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1130): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1188): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1217): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1244): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1338): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1387): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1414): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1441): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1527): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1592): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1622): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1722): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1754): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1786): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1818): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1848): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1963): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1998): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2026): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2061): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_usart.c...
+STM32F10xFWLib\src\stm32f10x_usart.c(134): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(252): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(344): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(373): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(396): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(445): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(464): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(490): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(571): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(598): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(626): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(674): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(713): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(749): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(780): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(844): warning:  #223-D: function "assert" declared implicitly
+assembling cortexm3_macro_rvds.s...
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
+Clean started: Project: 'RTOSDemo'
+   deleting intermediate output files for target 'Target 1'
+Build target 'Target 1'
+assembling STM32F10x.s...
+compiling stm32f10x_gpio.c...
+STM32F10xFWLib\src\stm32f10x_gpio.c(121): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(278): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(319): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(392): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(455): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_gpio.c(506): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_lib.c...
+compiling stm32f10x_nvic.c...
+STM32F10xFWLib\src\stm32f10x_nvic.c(67): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(104): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(107): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(126): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(134): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(240): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(266): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(283): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(308): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(323): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(338): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(355): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(380): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(398): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(401): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(415): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(427): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(447): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(452): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(456): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(479): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(486): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(490): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(521): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(525): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(569): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(599): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(604): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(623): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(628): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(661): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(694): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(701): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(705): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(717): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(740): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_nvic.c(746): error:  #20: identifier "SCB" is undefined
+STM32F10xFWLib\src\stm32f10x_nvic.c(750): error:  #20: identifier "SCB" is undefined
+compiling stm32f10x_rcc.c...
+STM32F10xFWLib\src\stm32f10x_rcc.c(171): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(212): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(239): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(266): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(314): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(367): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(400): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(466): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(520): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(549): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(588): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(612): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(631): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(743): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(774): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(806): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(836): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(867): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(891): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(907): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(928): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(960): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1029): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_rcc.c(1062): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_spi.c...
+STM32F10xFWLib\src\stm32f10x_spi.c(96): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(182): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(216): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(253): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(310): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(336): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(364): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(404): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(435): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(481): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(515): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(547): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(590): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_spi.c(634): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_systick.c...
+STM32F10xFWLib\src\stm32f10x_systick.c(53): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(76): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(95): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(125): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_systick.c(167): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_tim.c...
+STM32F10xFWLib\src\stm32f10x_tim.c(159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(189): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(312): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(433): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(506): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(541): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(587): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(617): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(661): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(699): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(730): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(758): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(793): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(824): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(855): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(886): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(917): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(944): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(976): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1011): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1041): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1071): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1101): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1130): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1159): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1188): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1217): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1244): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1338): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1360): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1387): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1414): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1441): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1468): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1497): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1527): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1562): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1592): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1622): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1722): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1754): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1786): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1818): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1848): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1963): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(1998): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2026): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_tim.c(2061): warning:  #223-D: function "assert" declared implicitly
+compiling stm32f10x_usart.c...
+STM32F10xFWLib\src\stm32f10x_usart.c(134): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(252): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(293): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(344): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(373): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(396): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(415): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(445): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(464): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(490): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(571): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(598): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(626): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(655): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(674): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(713): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(749): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(780): warning:  #223-D: function "assert" declared implicitly
+STM32F10xFWLib\src\stm32f10x_usart.c(844): warning:  #223-D: function "assert" declared implicitly
+assembling cortexm3_macro_rvds.s...
+compiling main.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling setup.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling heap_2.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling list.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling port.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling queue.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling tasks.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+compiling serial.c...
+.\FreeRTOS\inc\FreeRTOS.h(64): error:  #5: cannot open source input file "projdefs.h": No such file or directory
+Target not created
diff --git a/lab_env.sct b/lab_env.sct
new file mode 100644
index 0000000..f67cd68
--- /dev/null
+++ b/lab_env.sct
@@ -0,0 +1,15 @@
+; *************************************************************
+; *** Scatter-Loading Description File generated by uVision ***
+; *************************************************************
+
+LR_IROM1 0x08000000 0x00020000  {    ; load region size_region
+  ER_IROM1 0x08000000 0x00020000  {  ; load address = execution address
+   *.o (RESET, +First)
+   *(InRoot$$Sections)
+   .ANY (+RO)
+  }
+  RW_IRAM1 0x20000000 0x00005000  {  ; RW data
+   .ANY (+RW +ZI)
+  }
+}
+
diff --git a/lab_env.tra b/lab_env.tra
new file mode 100644
index 0000000..d811c84
--- /dev/null
+++ b/lab_env.tra
@@ -0,0 +1,36 @@
+*** Creating Trace Output File 'RTOSDemo.tra' Ok.
+### Preparing for ADS-LD.
+### Creating ADS-LD Command Line
+### List of Objects: adding '"stm32f10x.o"'
+### List of Objects: adding '"cortexm3_macro_rvds.o"'
+### List of Objects: adding '"stm32f10x_gpio.o"'
+### List of Objects: adding '"stm32f10x_lib.o"'
+### List of Objects: adding '"stm32f10x_nvic.o"'
+### List of Objects: adding '"stm32f10x_rcc.o"'
+### List of Objects: adding '"stm32f10x_spi.o"'
+### List of Objects: adding '"stm32f10x_systick.o"'
+### List of Objects: adding '"stm32f10x_tim.o"'
+### List of Objects: adding '"stm32f10x_usart.o"'
+### List of Objects: adding '"main.o"'
+### List of Objects: adding '"setup.o"'
+### List of Objects: adding '"tasks.o"'
+### List of Objects: adding '"list.o"'
+### List of Objects: adding '"queue.o"'
+### List of Objects: adding '"port.o"'
+### List of Objects: adding '"heap_2.o"'
+### List of Objects: adding '"serial.o"'
+### ADS-LD Command completed:
+--cpu Cortex-M3 "stm32f10x.o" "cortexm3_macro_rvds.o" "stm32f10x_gpio.o" "stm32f10x_lib.o" "stm32f10x_nvic.o" "stm32f10x_rcc.o" "stm32f10x_spi.o" "stm32f10x_systick.o" "stm32f10x_tim.o" "stm32f10x_usart.o" "main.o" "setup.o" "tasks.o" "list.o" "queue.o" "port.o" "heap_2.o" "serial.o" --library_type=microlib --strict --scatter "RTOSDemo.sct" 

+--autoat --summary_stderr --info summarysizes --map --xref --callgraph --symbols 

+--info sizes --info totals --info unused --info veneers 

+ --list ".\RTOSDemo.map" -o "RTOSDemo.axf"### Preparing Environment (PrepEnvAds)
+### ADS-LD Output File: 'RTOSDemo.axf'
+### ADS-LD Command File: 'RTOSDemo.lnp'
+### Checking for dirty Components...
+### Creating CmdFile 'RTOSDemo.lnp', Handle=0x000006CC
+### Writing '.lnp' file
+### ADS-LD Command file 'RTOSDemo.lnp' is ready.
+### ADS-LD: About to start ADS-LD Thread.
+### ADS-LD: executed with 0 errors
+### Updating obj list
+### LDADS_file() completed.
diff --git a/lab_env.uvgui.ngot b/lab_env.uvgui.ngot
new file mode 100644
index 0000000..40b50dc
--- /dev/null
+++ b/lab_env.uvgui.ngot
@@ -0,0 +1,2655 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<ProjectGui xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_gui.xsd">
+
+  <SchemaVersion>-5.1</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <ViewPool/>
+
+  <SECTreeCtrl>
+    <View>
+      <WinId>38003</WinId>
+      <ViewName>Registers</ViewName>
+      <TableColWidths>131 75</TableColWidths>
+    </View>
+    <View>
+      <WinId>346</WinId>
+      <ViewName>Code Coverage</ViewName>
+      <TableColWidths>319 364</TableColWidths>
+    </View>
+    <View>
+      <WinId>204</WinId>
+      <ViewName>Performance Analyzer</ViewName>
+      <TableColWidths>425 79 79 100</TableColWidths>
+    </View>
+  </SECTreeCtrl>
+
+  <TreeListPane>
+    <View>
+      <WinId>1506</WinId>
+      <ViewName>Symbols</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>1936</WinId>
+      <ViewName>Watch 1</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>1937</WinId>
+      <ViewName>Watch 2</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>1935</WinId>
+      <ViewName>Call Stack + Locals</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>2506</WinId>
+      <ViewName>Trace Data</ViewName>
+      <UserString>FiltIdx=0;DescrEn=0;DescrHeight=4;FuncTrc=1;FindType=8;ColWidths=004B00870082005F004600E600C80096</UserString>
+      <TableColWidths>75 135 95 70 230 200 150</TableColWidths>
+    </View>
+  </TreeListPane>
+
+  <WindowSettings>
+    <LogicAnalizer>
+      <ShowLACursor>0</ShowLACursor>
+      <ShowSignalInfo>0</ShowSignalInfo>
+      <ShowCycles>0</ShowCycles>
+      <LeftSideBarSize>50</LeftSideBarSize>
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+    </LogicAnalizer>
+  </WindowSettings>
+
+  <WinLayoutEx>
+    <sActiveDebugView></sActiveDebugView>
+    <WindowPosition>
+      <length>44</length>
+      <flags>0</flags>
+      <showCmd>1</showCmd>
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+        <xPos>-1</xPos>
+        <yPos>-1</yPos>
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+        <xPos>-1</xPos>
+        <yPos>-1</yPos>
+      </MaxPosition>
+      <NormalPosition>
+        <Top>0</Top>
+        <Left>431</Left>
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diff --git a/lab_env.uvgui.robin b/lab_env.uvgui.robin
new file mode 100644
index 0000000..f97cb2a
--- /dev/null
+++ b/lab_env.uvgui.robin
@@ -0,0 +1,2583 @@
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diff --git a/lab_env.uvgui.tony b/lab_env.uvgui.tony
new file mode 100644
index 0000000..58b58e0
--- /dev/null
+++ b/lab_env.uvgui.tony
@@ -0,0 +1,2646 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<ProjectGui xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_gui.xsd">
+
+  <SchemaVersion>-5.1</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <ViewPool/>
+
+  <SECTreeCtrl>
+    <View>
+      <WinId>38003</WinId>
+      <ViewName>Registers</ViewName>
+      <TableColWidths>115 275</TableColWidths>
+    </View>
+    <View>
+      <WinId>346</WinId>
+      <ViewName>Code Coverage</ViewName>
+      <TableColWidths>487 535</TableColWidths>
+    </View>
+    <View>
+      <WinId>204</WinId>
+      <ViewName>Performance Analyzer</ViewName>
+      <TableColWidths>728 97 97 100</TableColWidths>
+    </View>
+  </SECTreeCtrl>
+
+  <TreeListPane>
+    <View>
+      <WinId>1506</WinId>
+      <ViewName>Symbols</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>1936</WinId>
+      <ViewName>Watch 1</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>1937</WinId>
+      <ViewName>Watch 2</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>1935</WinId>
+      <ViewName>Call Stack + Locals</ViewName>
+      <UserString></UserString>
+      <TableColWidths>133 133 133</TableColWidths>
+    </View>
+    <View>
+      <WinId>2506</WinId>
+      <ViewName>Trace Data</ViewName>
+      <UserString>FiltIdx=0;DescrEn=0;DescrHeight=4;FuncTrc=1;FindType=8;ColWidths=004B00870082005F004600E600C80096</UserString>
+      <TableColWidths>75 135 95 70 230 200 150</TableColWidths>
+    </View>
+  </TreeListPane>
+
+  <WindowSettings>
+    <LogicAnalizer>
+      <ShowLACursor>0</ShowLACursor>
+      <ShowSignalInfo>0</ShowSignalInfo>
+      <ShowCycles>0</ShowCycles>
+      <LeftSideBarSize>50</LeftSideBarSize>
+      <TimeBaseIndex>16</TimeBaseIndex>
+    </LogicAnalizer>
+  </WindowSettings>
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diff --git a/lab_env.uvopt b/lab_env.uvopt
new file mode 100644
index 0000000..a72e4bb
--- /dev/null
+++ b/lab_env.uvopt
@@ -0,0 +1,533 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_opt.xsd">
+
+  <SchemaVersion>1.0</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <Extensions>
+    <cExt>*.c</cExt>
+    <aExt>*.s*; *.src; *.a*</aExt>
+    <oExt>*.obj</oExt>
+    <lExt>*.lib</lExt>
+    <tExt>*.txt; *.h; *.inc</tExt>
+    <pExt>*.plm</pExt>
+    <CppX>*.cpp</CppX>
+    <nMigrate>0</nMigrate>
+  </Extensions>
+
+  <DaveTm>
+    <dwLowDateTime>0</dwLowDateTime>
+    <dwHighDateTime>0</dwHighDateTime>
+  </DaveTm>
+
+  <Target>
+    <TargetName>Target 1</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>8000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>1</RunSim>
+        <RunTarget>0</RunTarget>
+        <RunAbUc>0</RunAbUc>
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+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
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+        <AsmSymb>1</AsmSymb>
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+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
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+        <tvExp>1</tvExp>
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+        <IsCurrentTarget>1</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>1</uSim>
+        <uTrg>0</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>0</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>0</tRbreak>
+        <tRwatch>0</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>0</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <nTsel>0</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>BIN\UL2CM3.DLL</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
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+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L50 -Z18 -C0 -M0 -T0</Name>
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+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name>-T0</Name>
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+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>JLTAgdi</Key>
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+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>-UU0605F6E -O47 -S0 -C0 -N00("ARM CoreSight JTAG-DP") -D00(3BA00477) -L00(4) -N01("Unknown JTAG device") -D01(06410041) -L01(5) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP7 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>\main\carPositionTracker.position</ItemText>
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+      </WatchWindow2>
+      <MemoryWindow2>
+        <Mm>
+          <WinNumber>2</WinNumber>
+          <SubType>8</SubType>
+          <ItemText>0x10000000</ItemText>
+          <AccSizeX>0</AccSizeX>
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+      <Tracepoint>
+        <THDelay>0</THDelay>
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+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
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+        <aCover>0</aCover>
+        <aSer1>1</aSer1>
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+        <viewmode>1</viewmode>
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+        <aSer4>0</aSer4>
+        <StkLoc>1</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <LogicAnalyzers>
+        <Wi>
+          <IntNumber>0</IntNumber>
+          <FirstString>`PORTC</FirstString>
+          <SecondString>0080000000000000000000000000000000E0D04002000000000000000000000000000000504F52544300000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001000000000000000000000000000000000000000000000000000000000000000000000050200008</SecondString>
+        </Wi>
+      </LogicAnalyzers>
+    </TargetOption>
+  </Target>
+
+  <Group>
+    <GroupName>System</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
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+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
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+      <FilenameWithoutPath>STM32F10x.s</FilenameWithoutPath>
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+      <bDave2>0</bDave2>
+      <PathWithFileName>.\STM32F10xFWLib\src\stm32f10x_gpio.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f10x_gpio.c</FilenameWithoutPath>
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+      <PathWithFileName>.\STM32F10xFWLib\src\stm32f10x_nvic.c</PathWithFileName>
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+      <PathWithFileName>.\STM32F10xFWLib\src\stm32f10x_rcc.c</PathWithFileName>
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+  </Group>
+
+  <Group>
+    <GroupName>Application Files</GroupName>
+    <tvExp>1</tvExp>
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+</ProjectOpt>
diff --git a/lab_env.uvproj b/lab_env.uvproj
new file mode 100644
index 0000000..e75f02e
--- /dev/null
+++ b/lab_env.uvproj
@@ -0,0 +1,540 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_proj.xsd">
+
+  <SchemaVersion>1.1</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <Targets>
+    <Target>
+      <TargetName>Target 1</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>STM32F103VB</Device>
+          <Vendor>STMicroelectronics</Vendor>
+          <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x801FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile>"STARTUP\ST\STM32F10x.s" ("STM32 Startup Code")</StartupFile>
+          <FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000)</FlashDriverDll>
+          <DeviceId>4223</DeviceId>
+          <RegisterFile>stm32f10x_lib.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile></SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath>ST\STM32F10x\</RegisterFilePath>
+          <DBRegisterFilePath>ST\STM32F10x\</DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\</OutputDirectory>
+          <OutputName>stm32_exec</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>0</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+          </AfterMake>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments></SimDllArguments>
+          <SimDlgDll>DARMSTM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pSTM32F103VB</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments></TargetDllArguments>
+          <TargetDlgDll>TARMSTM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pSTM32F103VB</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+          <Simulator>
+            <UseSimulator>1</UseSimulator>
+            <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
+            <RunToMain>0</RunToMain>
+            <RestoreBreakpoints>1</RestoreBreakpoints>
+            <RestoreWatchpoints>1</RestoreWatchpoints>
+            <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
+            <RestoreFunctions>1</RestoreFunctions>
+            <RestoreToolbox>1</RestoreToolbox>
+            <LimitSpeedToRealTime>0</LimitSpeedToRealTime>
+            <RestoreSysVw>1</RestoreSysVw>
+          </Simulator>
+          <Target>
+            <UseTarget>0</UseTarget>
+            <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
+            <RunToMain>1</RunToMain>
+            <RestoreBreakpoints>0</RestoreBreakpoints>
+            <RestoreWatchpoints>0</RestoreWatchpoints>
+            <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
+            <RestoreFunctions>0</RestoreFunctions>
+            <RestoreToolbox>1</RestoreToolbox>
+            <RestoreTracepoints>0</RestoreTracepoints>
+            <RestoreSysVw>1</RestoreSysVw>
+          </Target>
+          <RunDebugAfterBuild>0</RunDebugAfterBuild>
+          <TargetSelection>0</TargetSelection>
+          <SimDlls>
+            <CpuDll></CpuDll>
+            <CpuDllArguments></CpuDllArguments>
+            <PeripheralDll></PeripheralDll>
+            <PeripheralDllArguments></PeripheralDllArguments>
+            <InitializationFile></InitializationFile>
+          </SimDlls>
+          <TargetDlls>
+            <CpuDll></CpuDll>
+            <CpuDllArguments></CpuDllArguments>
+            <PeripheralDll></PeripheralDll>
+            <PeripheralDllArguments></PeripheralDllArguments>
+            <InitializationFile></InitializationFile>
+            <Driver>BIN\UL2CM3.DLL</Driver>
+          </TargetDlls>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4097</DriverSelection>
+          </Flash1>
+          <bUseTDR>0</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3>"" ()</Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M3"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>1</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x5000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x20000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x20000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x5000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>1</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>0</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>0</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <useXO>0</useXO>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>RVDS_ARMCM3_LM3S102</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\CORTEX_STM32F103_Keil;.\STM32F10xFWLib\inc;.\FreeRTOS\inc;.</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>1</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08000000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>System</GroupName>
+          <Files>
+            <File>
+              <FileName>STM32F10x.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>.\STM32F10x.s</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_lib.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_lib.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_nvic.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_nvic.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_rcc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_rcc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_systick.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_systick.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_tim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f10x_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\STM32F10xFWLib\src\stm32f10x_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>cortexm3_macro_rvds.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>.\STM32F10xFWLib\src\cortexm3_macro_rvds.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Application Files</GroupName>
+          <Files>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>setup.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\setup.c</FilePath>
+            </File>
+            <File>
+              <FileName>pin_listener.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\pin_listener.c</FilePath>
+            </File>
+            <File>
+              <FileName>position_tracker.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\position_tracker.c</FilePath>
+            </File>
+            <File>
+              <FileName>motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\motor.c</FilePath>
+            </File>
+            <File>
+              <FileName>planner.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\planner.c</FilePath>
+            </File>
+            <File>
+              <FileName>safety.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\safety.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>FreeRTOS files</GroupName>
+          <Files>
+            <File>
+              <FileName>heap_2.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\FreeRTOS\src\heap_2.c</FilePath>
+            </File>
+            <File>
+              <FileName>list.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\FreeRTOS\src\list.c</FilePath>
+            </File>
+            <File>
+              <FileName>port.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\FreeRTOS\src\port.c</FilePath>
+            </File>
+            <File>
+              <FileName>queue.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\FreeRTOS\src\queue.c</FilePath>
+            </File>
+            <File>
+              <FileName>tasks.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\FreeRTOS\src\tasks.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\FreeRTOS\src\serial.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+      </Groups>
+    </Target>
+  </Targets>
+
+</Project>
diff --git a/lab_env_Target 1.dep b/lab_env_Target 1.dep
new file mode 100644
index 0000000..df7e4af
--- /dev/null
+++ b/lab_env_Target 1.dep	
@@ -0,0 +1,316 @@
+Dependencies for Project 'lab_env', Target 'Target 1': (DO NOT MODIFY !)
+F (.\STM32F10x.s)(0x553BEC78)(--cpu Cortex-M3 --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

--pd "__UVISION_VERSION SETA 513"

--list .\stm32f10x.lst --xref -o .\stm32f10x.o --depend .\stm32f10x.d)
+F (.\STM32F10xFWLib\src\stm32f10x_gpio.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_gpio.o --omf_browse .\stm32f10x_gpio.crf --depend .\stm32f10x_gpio.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_lib.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_lib.o --omf_browse .\stm32f10x_lib.crf --depend .\stm32f10x_lib.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_lib.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_exti.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_nvic.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_spi.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_systick.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_usart.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_nvic.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_nvic.o --omf_browse .\stm32f10x_nvic.crf --depend .\stm32f10x_nvic.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_nvic.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_rcc.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_rcc.o --omf_browse .\stm32f10x_rcc.crf --depend .\stm32f10x_rcc.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_spi.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_spi.o --omf_browse .\stm32f10x_spi.crf --depend .\stm32f10x_spi.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_spi.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_systick.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_systick.o --omf_browse .\stm32f10x_systick.crf --depend .\stm32f10x_systick.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_systick.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_tim.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_tim.o --omf_browse .\stm32f10x_tim.crf --depend .\stm32f10x_tim.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_tim.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\stm32f10x_usart.c)(0x54E68216)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\stm32f10x_usart.o --omf_browse .\stm32f10x_usart.crf --depend .\stm32f10x_usart.d)
+I (.\STM32F10xFWLib\inc\stm32f10x_usart.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+F (.\STM32F10xFWLib\src\cortexm3_macro_rvds.s)(0x54E68216)(--cpu Cortex-M3 --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

--pd "__UVISION_VERSION SETA 513"

--list .\cortexm3_macro_rvds.lst --xref -o .\cortexm3_macro_rvds.o --depend .\cortexm3_macro_rvds.d)
+F (.\main.c)(0x54E68214)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\main.o --omf_browse .\main.crf --depend .\main.d)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (setup.h)(0x54E68214)
+I (stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_tim.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_lib.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_exti.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_nvic.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_spi.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_systick.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_usart.h)(0x54E68216)
+I (global.h)(0x54E68214)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
+I (pin_listener.h)(0x54E68AE6)
+I (position_tracker.h)(0x54E68214)
+I (.\FreeRTOS\inc\semphr.h)(0x54E68216)
+I (motor.h)(0x54E68214)
+I (planner.h)(0x54E68214)
+I (safety.h)(0x54E68214)
+I (assert.h)(0x54E68214)
+F (.\setup.c)(0x54E68214)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\setup.o --omf_browse .\setup.crf --depend .\setup.d)
+I (setup.h)(0x54E68214)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
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+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
+I (.\FreeRTOS\inc\serial.h)(0x54E68216)
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+I (.\STM32F10xFWLib\inc\stm32f10x_lib.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_exti.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_nvic.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_spi.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_systick.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_usart.h)(0x54E68216)
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-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\pin_listener.o --omf_browse .\pin_listener.crf --depend .\pin_listener.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
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+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (pin_listener.h)(0x54E68AE6)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (global.h)(0x54E68214)
+I (assert.h)(0x54E68214)
+F (.\position_tracker.c)(0x553C2091)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\position_tracker.o --omf_browse .\position_tracker.crf --depend .\position_tracker.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
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+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
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+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (position_tracker.h)(0x54E68214)
+I (.\FreeRTOS\inc\semphr.h)(0x54E68216)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (assert.h)(0x54E68214)
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-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\motor.o --omf_browse .\motor.crf --depend .\motor.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
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+I (.\FreeRTOSConfig.h)(0x54E68214)
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+I (.\FreeRTOS\inc\task.h)(0x54E68216)
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+I (.\STM32F10xFWLib\inc\stm32f10x_lib.h)(0x54E68216)
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+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_exti.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_nvic.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_spi.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_systick.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_usart.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
+I (position_tracker.h)(0x54E68214)
+I (.\FreeRTOS\inc\semphr.h)(0x54E68216)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
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+I (assert.h)(0x54E68214)
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-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\planner.o --omf_browse .\planner.crf --depend .\planner.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
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+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
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+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
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+I (pin_listener.h)(0x54E68AE6)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+F (.\safety.c)(0x553C2968)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\safety.o --omf_browse .\safety.crf --depend .\safety.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
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+I (.\FreeRTOSConfig.h)(0x54E68214)
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+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
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-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\heap_2.o --omf_browse .\heap_2.crf --depend .\heap_2.d)
+I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5475F300)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
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-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\list.o --omf_browse .\list.crf --depend .\list.d)
+I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5475F300)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
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+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+F (.\FreeRTOS\src\port.c)(0x54E68214)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\port.o --omf_browse .\port.crf --depend .\port.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+F (.\FreeRTOS\src\queue.c)(0x54E68214)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\queue.o --omf_browse .\queue.crf --depend .\queue.d)
+I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5475F300)
+I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5475F300)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (.\FreeRTOS\inc\croutine.h)(0x54E68216)
+F (.\FreeRTOS\src\tasks.c)(0x54E68214)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\tasks.o --omf_browse .\tasks.crf --depend .\tasks.d)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
+I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5475F300)
+I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5475F300)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\task.h)(0x54E68216)
+I (.\FreeRTOS\inc\list.h)(0x54E68216)
+I (.\FreeRTOS\inc\StackMacros.h)(0x54E68216)
+F (.\FreeRTOS\src\serial.c)(0x54E68214)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork -I..\CORTEX_STM32F103_Keil -I.\STM32F10xFWLib\inc -I.\FreeRTOS\inc -I.

-I C:\Keil_v5\ARM\RV31\INC

-I C:\Keil_v5\ARM\CMSIS\Include

-I C:\Keil_v5\ARM\Inc\ST\STM32F10x

-D__UVISION_VERSION="513" -DRVDS_ARMCM3_LM3S102

-o .\serial.o --omf_browse .\serial.crf --depend .\serial.d)
+I (.\FreeRTOS\inc\FreeRTOS.h)(0x54E68216)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+I (.\FreeRTOS\inc\projdefs.h)(0x54E68216)
+I (.\FreeRTOSConfig.h)(0x54E68214)
+I (.\FreeRTOS\inc\portable.h)(0x54E68216)
+I (.\FreeRTOS\inc\portmacro.h)(0x54E68216)
+I (.\FreeRTOS\inc\mpu_wrappers.h)(0x54E68216)
+I (.\FreeRTOS\inc\queue.h)(0x54E68216)
+I (.\FreeRTOS\inc\semphr.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_lib.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_map.h)(0x54E68216)
+I (.\stm32f10x_conf.h)(0x54E68214)
+I (.\STM32F10xFWLib\inc\stm32f10x_type.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\cortexm3_macro.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_exti.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_gpio.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_nvic.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_rcc.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_spi.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_systick.h)(0x54E68216)
+I (.\STM32F10xFWLib\inc\stm32f10x_usart.h)(0x54E68216)
+I (.\FreeRTOS\inc\serial.h)(0x54E68216)
diff --git a/list.crf b/list.crf
new file mode 100644
index 0000000..dd4cbdc
Binary files /dev/null and b/list.crf differ
diff --git a/list.d b/list.d
new file mode 100644
index 0000000..bffc79d
--- /dev/null
+++ b/list.d
@@ -0,0 +1,10 @@
+.\list.o: FreeRTOS\src\list.c
+.\list.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
+.\list.o: .\FreeRTOS\inc\FreeRTOS.h
+.\list.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\list.o: .\FreeRTOS\inc\projdefs.h
+.\list.o: .\FreeRTOSConfig.h
+.\list.o: .\FreeRTOS\inc\portable.h
+.\list.o: .\FreeRTOS\inc\portmacro.h
+.\list.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\list.o: .\FreeRTOS\inc\list.h
diff --git a/list.o b/list.o
new file mode 100644
index 0000000..00677bd
Binary files /dev/null and b/list.o differ
diff --git a/main.c b/main.c
new file mode 100644
index 0000000..076451a
--- /dev/null
+++ b/main.c
@@ -0,0 +1,169 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * Main file of the system; module setup and initialisation takes
+ * place here
+ */
+
+#include <stdio.h>
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "setup.h"
+
+#include "stm32f10x_conf.h"
+#include "stm32f10x_gpio.h"
+#include "stm32f10x_tim.h"
+#include "stm32f10x_lib.h"
+#include "stm32f10x_map.h"
+
+#include "global.h"
+#include "pin_listener.h"
+#include "position_tracker.h"
+#include "motor.h"
+#include "planner.h"
+#include "safety.h"
+
+#include "assert.h"
+
+/*-----------------------------------------------------------*/
+/* Input module */
+
+xQueueHandle pinEventQueue;
+
+/**
+ * This array describes which pins are connected to which
+ * events
+ */
+PinListener pinListeners[] =
+   { { GPIOC, GPIO_Pin_0, TO_FLOOR_1,       UNASSIGNED },
+     { GPIOC, GPIO_Pin_1, TO_FLOOR_2,       UNASSIGNED },
+     { GPIOC, GPIO_Pin_2, TO_FLOOR_3,       UNASSIGNED },
+     { GPIOC, GPIO_Pin_3, STOP_PRESSED,     STOP_RELEASED },
+     { GPIOC, GPIO_Pin_7, ARRIVED_AT_FLOOR, LEFT_FLOOR },
+     { GPIOC, GPIO_Pin_8, DOORS_CLOSED,     DOORS_OPENING } };
+
+PinListenerSet listenerSet = {
+   pinListeners,            // Array connecting pins with events
+   6,						// size of the array
+   10 / portTICK_RATE_MS,	// Rate at which the status of pins is checked
+   1,                       // Priority
+   NULL };					// Event queue (set in "setupInputModule")
+
+
+/**
+ * Object responsible for keeping track of the car position
+ */
+PositionTracker carPositionTracker;
+
+/**
+ * Create all objects and tasks belonging to the input module
+ */
+void setupInputModule() {
+  GPIO_InitTypeDef GPIO_InitStructure;
+
+  pinEventQueue = xQueueCreate(32, sizeof(PinEvent));
+  assert(pinEventQueue != NULL);
+  listenerSet.pinEventQueue = pinEventQueue;
+
+  // Initialise pins 0, 1, 2, 3, 7, 8, 9 of GPIOC for input
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | 
+                                GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_Init( GPIOC, &GPIO_InitStructure );
+
+  // Setup tasks listening at the pins
+  setupPinListeners(&listenerSet);
+
+  // Setup task keeping track of the car position
+  setupPositionTracker(&carPositionTracker,
+                       GPIOC, GPIO_Pin_9,
+					   3 / portTICK_RATE_MS, 4);
+}
+
+/*-----------------------------------------------------------*/
+/* Actuator module */
+
+/**
+ * Object responsible for driving the motor
+ */
+Motor carMotor;
+
+/**
+ * Create all objects and tasks belonging to the actuator module
+ */
+void setupActuatorModule() {
+  TIM_TimeBaseInitTypeDef timInit;
+
+  /* Setup timer TIM3 for pulse-width modulation:
+     100kHz, periodically counting from 0 to 9999
+     This will generate a 10Hz pulse; far too slow for an
+     actual motor, but fast enough to see something blinking
+    */
+  RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3, ENABLE );
+
+  TIM_DeInit( TIM3 );
+  TIM_TimeBaseStructInit( &timInit );
+
+  timInit.TIM_Period = (unsigned portSHORT)0x270F; // Auto-reload period
+  timInit.TIM_Prescaler = 719;                     // Prescaler; resulting frequency
+                                                   //  is 72MHz / 720 = 100kHz
+  timInit.TIM_ClockDivision = TIM_CKD_DIV1;        // Clock division 1
+  timInit.TIM_CounterMode = TIM_CounterMode_Up;    // Counting upwards
+    
+  TIM_TimeBaseInit( TIM3, &timInit );
+  TIM_ARRPreloadConfig( TIM3, ENABLE );
+
+  TIM_Cmd(TIM3, ENABLE);
+
+  setupMotor(&carMotor, &carPositionTracker,
+             TIM3, TIM_Channel_1, TIM_Channel_2,
+			 30 / portTICK_RATE_MS, 2);
+}
+
+/*-----------------------------------------------------------*/
+/* Functions defined in global.h */
+
+s32 getCarPosition() {
+  return getPosition(&carPositionTracker);
+}
+
+void setCarTargetPosition(s32 target) {
+  setTargetPosition(&carMotor, target);
+}
+
+void setCarMotorStopped(u8 stopped) {
+  setMotorStopped(&carMotor, stopped);
+}
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Entry point of program execution
+ */
+int main( void )
+{
+  prvSetupHardware();
+
+  setupInputModule();
+  setupActuatorModule();
+  setupPlanner(1);
+  setupSafety(3);
+
+  printf("Setup completed\n");  // this is redirected to USART 1
+
+  vTaskStartScheduler();
+  assert(0);
+  return 0;                 // not reachable
+}
+/*-----------------------------------------------------------*/
+
+void assert_failed(u8* file, u32 line) {
+  printf("ASSERTION FAILURE: %s:%d\n", file, line);
+}
+
+
diff --git a/main.crf b/main.crf
new file mode 100644
index 0000000..d940c18
Binary files /dev/null and b/main.crf differ
diff --git a/main.d b/main.d
new file mode 100644
index 0000000..c4e78a2
--- /dev/null
+++ b/main.d
@@ -0,0 +1,37 @@
+.\main.o: main.c
+.\main.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
+.\main.o: .\FreeRTOS\inc\FreeRTOS.h
+.\main.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\main.o: .\FreeRTOS\inc\projdefs.h
+.\main.o: .\FreeRTOSConfig.h
+.\main.o: .\FreeRTOS\inc\portable.h
+.\main.o: .\FreeRTOS\inc\portmacro.h
+.\main.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\main.o: .\FreeRTOS\inc\task.h
+.\main.o: .\FreeRTOS\inc\list.h
+.\main.o: setup.h
+.\main.o: stm32f10x_conf.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\main.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_tim.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_lib.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_exti.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_nvic.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_spi.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_systick.h
+.\main.o: .\STM32F10xFWLib\inc\stm32f10x_usart.h
+.\main.o: global.h
+.\main.o: .\FreeRTOS\inc\queue.h
+.\main.o: pin_listener.h
+.\main.o: .\FreeRTOS\inc\queue.h
+.\main.o: position_tracker.h
+.\main.o: .\FreeRTOS\inc\semphr.h
+.\main.o: .\FreeRTOS\inc\queue.h
+.\main.o: motor.h
+.\main.o: .\FreeRTOS\inc\semphr.h
+.\main.o: planner.h
+.\main.o: safety.h
+.\main.o: assert.h
diff --git a/main.o b/main.o
new file mode 100644
index 0000000..18fb5d6
Binary files /dev/null and b/main.o differ
diff --git a/motor.c b/motor.c
new file mode 100644
index 0000000..d4e95b4
--- /dev/null
+++ b/motor.c
@@ -0,0 +1,183 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * The motor actuator module. This module uses pulse-width modulation
+ * (PWM) to smoothly control the output of the motor
+ */
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "stm32f10x_lib.h"
+#include "stm32f10x_map.h"
+#include <stdio.h>
+
+#include "position_tracker.h"
+#include "motor.h"
+
+#include "assert.h"
+
+// Constant acceleration
+#define MAX_DUTY          10000	  // The motor output is specified as
+                                  // an integer between 0 and MAX_DUTY
+#define ACCEL_TIME        500     // time to go from zero to full speed
+
+// De-acceleration: speed is changed proportional to the distance
+//                  from the target
+#define MAX_SPEED         50      // maximum speed: 50cm/s
+#define MIN_SPEED         3       // minimum speed: 3cm/s
+#define DUTY_FACTOR       200     // 1cm/s corresponds to duty 200
+
+static s32 maxDutyAtDistance(s32 distance) {
+  if (distance > MAX_SPEED)
+    distance = MAX_SPEED;
+  if (distance < MIN_SPEED)
+    distance = MIN_SPEED;
+  return distance * DUTY_FACTOR;
+}
+
+static s32 min(s32 a, s32 b) {
+  if (a < b)
+    return a;
+  else
+    return b;
+}
+
+static setCompare(TIM_TypeDef* TIMx, u16 channel, u16 value) {
+  switch (channel) {
+    case TIM_Channel_1:
+	  TIM_SetCompare1(TIMx, value);
+	  break;
+    case TIM_Channel_2:
+	  TIM_SetCompare2(TIMx, value);
+	  break;
+    case TIM_Channel_3:
+	  TIM_SetCompare3(TIMx, value);
+	  break;
+    case TIM_Channel_4:
+	  TIM_SetCompare4(TIMx, value);
+	  break;
+	default:
+	  assert(0);
+	  break;
+  }
+}
+
+static void setDuty(Motor *motor, s32 duty) {
+  if (duty < 0) {
+    setCompare(motor->TIMx, motor->upChannel, 0);
+    setCompare(motor->TIMx, motor->downChannel, (u16)-duty);
+  } else {
+    setCompare(motor->TIMx, motor->downChannel, 0);
+    setCompare(motor->TIMx, motor->upChannel, (u16)duty);
+  }
+}
+
+static void motorTask(void *params) {
+  Motor *motor = (Motor*)params;
+  portTickType xLastWakeTime;
+  s32 pos, targetPos;
+  u8 stopped;
+  s32 currentDuty = 0;
+  u16 maxDutyChange = MAX_DUTY * motor->pollingPeriod / ACCEL_TIME;
+
+  xLastWakeTime = xTaskGetTickCount();
+
+  for (;;) {
+    xSemaphoreTake(motor->lock, portMAX_DELAY);
+	pos = getPosition(motor->currentPosition);
+    targetPos = motor->targetPosition;
+    stopped = motor->stopped;
+	xSemaphoreGive(motor->lock);
+	
+	if (stopped) {
+	  // immediately stop the motor
+
+	  if (currentDuty >= maxDutyChange)
+	    currentDuty -= maxDutyChange;
+	  else if (currentDuty <= -maxDutyChange)
+	    currentDuty += maxDutyChange;
+      else
+	    currentDuty = 0;
+      setDuty(motor, currentDuty);
+
+	} else if (targetPos > pos) {
+	  // We have to increase the position to reach the target
+
+      setDirection(motor->currentPosition, Up);
+
+	  currentDuty = min(maxDutyAtDistance(targetPos - pos),
+	                    currentDuty + maxDutyChange);
+      setDuty(motor, currentDuty);
+	} else if (targetPos < pos) {
+	  // We have to decrease the position to reach the target
+
+      setDirection(motor->currentPosition, Down);
+
+	  currentDuty = -min(maxDutyAtDistance(pos - targetPos),
+	                     -currentDuty + maxDutyChange);
+      setDuty(motor, currentDuty);
+	} else {
+      // We have reached the target
+
+      setDirection(motor->currentPosition, Unknown);
+
+      currentDuty = 0;
+      setDuty(motor, currentDuty);
+	}
+
+	vTaskDelayUntil(&xLastWakeTime, motor->pollingPeriod);
+  }
+}
+
+void setupMotor(Motor *motor,
+                PositionTracker *currentPosition,
+				TIM_TypeDef* TIMx,
+                u16 upChannel, u16 downChannel,
+                portTickType pollingPeriod,
+				unsigned portBASE_TYPE uxPriority) {
+  TIM_OCInitTypeDef TIM_OCInitStruct;
+
+  portBASE_TYPE res;
+
+  motor->currentPosition = currentPosition;
+  motor->targetPosition = 0;
+  motor->stopped = 0;
+  motor->lock = xSemaphoreCreateMutex();
+  assert(motor->lock != NULL);
+  motor->TIMx = TIMx;
+  motor->upChannel = upChannel;
+  motor->downChannel = downChannel;
+  motor->pollingPeriod = pollingPeriod;
+
+  // Setup two timer channels for PWM output
+  TIM_OCStructInit(&TIM_OCInitStruct);
+  TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
+  TIM_OCInitStruct.TIM_OCPolarity = 1;
+  TIM_OCInitStruct.TIM_Pulse = 0;
+
+  TIM_OCInitStruct.TIM_Channel = upChannel;
+  TIM_OCInit(TIMx, &TIM_OCInitStruct);
+
+  TIM_OCInitStruct.TIM_Channel = downChannel;
+  TIM_OCInit(TIMx, &TIM_OCInitStruct);
+
+  res = xTaskCreate(motorTask, "motor", 80,
+                   (void*)motor, uxPriority, NULL);
+  assert(res == pdTRUE);
+}
+
+void setTargetPosition(Motor *motor, s32 target) {
+  xSemaphoreTake(motor->lock, portMAX_DELAY);
+  motor->targetPosition = target;
+  xSemaphoreGive(motor->lock);
+}
+
+void setMotorStopped(Motor *motor, u8 stopped) {
+  xSemaphoreTake(motor->lock, portMAX_DELAY);
+  motor->stopped = stopped;
+  xSemaphoreGive(motor->lock);
+}
diff --git a/motor.crf b/motor.crf
new file mode 100644
index 0000000..e61db30
Binary files /dev/null and b/motor.crf differ
diff --git a/motor.d b/motor.d
new file mode 100644
index 0000000..c6529a6
--- /dev/null
+++ b/motor.d
@@ -0,0 +1,30 @@
+.\motor.o: motor.c
+.\motor.o: .\FreeRTOS\inc\FreeRTOS.h
+.\motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\motor.o: .\FreeRTOS\inc\projdefs.h
+.\motor.o: .\FreeRTOSConfig.h
+.\motor.o: .\FreeRTOS\inc\portable.h
+.\motor.o: .\FreeRTOS\inc\portmacro.h
+.\motor.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\motor.o: .\FreeRTOS\inc\task.h
+.\motor.o: .\FreeRTOS\inc\list.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_lib.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\motor.o: .\stm32f10x_conf.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\motor.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_exti.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_nvic.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_spi.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_systick.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_usart.h
+.\motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
+.\motor.o: position_tracker.h
+.\motor.o: .\FreeRTOS\inc\semphr.h
+.\motor.o: .\FreeRTOS\inc\queue.h
+.\motor.o: motor.h
+.\motor.o: .\FreeRTOS\inc\semphr.h
+.\motor.o: .\STM32F10xFWLib\inc\stm32f10x_tim.h
+.\motor.o: assert.h
diff --git a/motor.h b/motor.h
new file mode 100644
index 0000000..8aeaf21
--- /dev/null
+++ b/motor.h
@@ -0,0 +1,54 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * The motor actuator module. This module uses pulse-width modulation
+ * (PWM) to smoothly control the output of the motor
+ */
+
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "stm32f10x_tim.h"
+
+#include "position_tracker.h"
+
+typedef struct {
+
+  vs32 targetPosition;				// Position that we currently are
+                                    // supposed to go to
+  u8 stopped;                       // set when the motor is supposed to
+                                    // be stopped immediately
+  xSemaphoreHandle lock;
+
+
+  PositionTracker *currentPosition;	// We need to keep a reference to the
+                                    // position tracker, to be able to stop
+									// the motor at the right point
+
+  TIM_TypeDef* TIMx;                // Timer and channels used for PWM
+  u16 upChannel, downChannel;
+
+  portTickType pollingPeriod;       // Period at which current and target
+                                    // position are compared
+
+} Motor;
+
+void setupMotor(Motor *motor,
+                PositionTracker *currentPosition,
+				TIM_TypeDef* TIMx,
+                u16 upChannel, u16 downChannel,
+                portTickType pollingPeriod,
+				unsigned portBASE_TYPE uxPriority);
+
+void setTargetPosition(Motor *motor, s32 target);
+
+// Stop motor immediately (usually due to safety reasons)
+void setMotorStopped(Motor *motor, u8 stopped);
+
+#endif
diff --git a/motor.o b/motor.o
new file mode 100644
index 0000000..ff7c7a2
Binary files /dev/null and b/motor.o differ
diff --git a/pin_listener.c b/pin_listener.c
new file mode 100644
index 0000000..2622aeb
--- /dev/null
+++ b/pin_listener.c
@@ -0,0 +1,76 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * Functions listening for changes of specified pins
+ */
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "pin_listener.h"
+#include "assert.h"
+
+/* counter for GPIO pins, for press and release events */
+int counter_GPIO_Pin = 0;
+
+
+static void pollPin(PinListener *listener,
+                    xQueueHandle pinEventQueue) {
+
+									
+	u8 status;
+	
+	//read current pin status 
+	status = GPIO_ReadInputDataBit(listener->gpio, listener->pin);
+	
+	// button has been pressed
+	if (status != listener->status) {
+		++counter_GPIO_Pin;
+		
+		// de-bouncing for 2 times the polling period - 20ms
+		if (counter_GPIO_Pin >= 2) {
+			// send rising edge event
+			if (status == 1) {
+				xQueueSend(pinEventQueue, &(listener->risingEvent), portMAX_DELAY);
+//				printf("Rising edge\n");
+			}
+			// send falling edge event to queue
+			else {
+				xQueueSend(pinEventQueue, &(listener->fallingEvent), portMAX_DELAY);
+//				printf("Falling edge\n");
+			}
+			//new status, reset counter 
+			listener->status = status;
+			counter_GPIO_Pin = 0;
+		}
+	}
+
+}
+
+static void pollPinsTask(void *params) {
+  PinListenerSet listeners = *((PinListenerSet*)params);
+  portTickType xLastWakeTime;
+  int i;
+  
+  xLastWakeTime = xTaskGetTickCount(); 
+  
+  for (;;) {
+    for (i = 0; i < listeners.num; ++i)
+	  pollPin(listeners.listeners + i, listeners.pinEventQueue);
+    
+	vTaskDelayUntil(&xLastWakeTime, listeners.pollingPeriod);
+  }
+}
+
+void setupPinListeners(PinListenerSet *listenerSet) {
+  portBASE_TYPE res;
+
+  res = xTaskCreate(pollPinsTask, "pin polling",
+                    100, (void*)listenerSet,
+					listenerSet->uxPriority, NULL);
+  assert(res == pdTRUE);
+}
\ No newline at end of file
diff --git a/pin_listener.crf b/pin_listener.crf
new file mode 100644
index 0000000..3802522
Binary files /dev/null and b/pin_listener.crf differ
diff --git a/pin_listener.d b/pin_listener.d
new file mode 100644
index 0000000..187f3b3
--- /dev/null
+++ b/pin_listener.d
@@ -0,0 +1,20 @@
+.\pin_listener.o: pin_listener.c
+.\pin_listener.o: .\FreeRTOS\inc\FreeRTOS.h
+.\pin_listener.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\pin_listener.o: .\FreeRTOS\inc\projdefs.h
+.\pin_listener.o: .\FreeRTOSConfig.h
+.\pin_listener.o: .\FreeRTOS\inc\portable.h
+.\pin_listener.o: .\FreeRTOS\inc\portmacro.h
+.\pin_listener.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\pin_listener.o: .\FreeRTOS\inc\task.h
+.\pin_listener.o: .\FreeRTOS\inc\list.h
+.\pin_listener.o: pin_listener.h
+.\pin_listener.o: .\FreeRTOS\inc\queue.h
+.\pin_listener.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\pin_listener.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\pin_listener.o: .\stm32f10x_conf.h
+.\pin_listener.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\pin_listener.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\pin_listener.o: global.h
+.\pin_listener.o: .\FreeRTOS\inc\queue.h
+.\pin_listener.o: assert.h
diff --git a/pin_listener.h b/pin_listener.h
new file mode 100644
index 0000000..0621448
--- /dev/null
+++ b/pin_listener.h
@@ -0,0 +1,45 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * Functions listening for changes of specified pins
+ */
+
+#ifndef PIN_LISTENER_H
+#define PIN_LISTENER_H
+
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "stm32f10x_gpio.h"
+
+#include "global.h"
+
+typedef struct {
+  GPIO_TypeDef * gpio;		  // Pin to listener at, e.g., GPIOC,
+  u16 pin;               	  // GPIO_Pin_4
+  PinEvent risingEvent;       // Event raised when pin changes from 0 to 1
+  PinEvent fallingEvent;      // Event raised when pin changes from 1 to 0
+
+  u8 status;                  // internal state
+	u8 pollingCycles;					// number of polling cycles the pin was changed
+} PinListener;
+
+typedef struct {
+  PinListener *listeners;	          // Array of PinListeners
+  int num;					          // size of the array
+  portTickType pollingPeriod;         // how often the status of pins is polled
+  unsigned portBASE_TYPE uxPriority;  // Priority of the polling task
+  xQueueHandle pinEventQueue;         // queue where events are sent to
+} PinListenerSet;
+
+/**
+ * Set up an array of PinListeners. This creates a
+ * (single) task that is regularly polling the status of
+ * the specified pins
+ */
+void setupPinListeners(PinListenerSet *listenerSet);
+
+#endif
diff --git a/pin_listener.o b/pin_listener.o
new file mode 100644
index 0000000..a2c3aa1
Binary files /dev/null and b/pin_listener.o differ
diff --git a/planner.c b/planner.c
new file mode 100644
index 0000000..ba32c6b
--- /dev/null
+++ b/planner.c
@@ -0,0 +1,158 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * The planner module, which is responsible for consuming
+ * pin/key events, and for deciding where the elevator
+ * should go next
+ */
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include <stdio.h>
+
+#include "global.h"
+#include "planner.h"
+#include "assert.h"
+#include "pin_listener.h" //for testing
+
+#define FLOOR_1_HIGHT 0
+#define FLOOR_2_HIGHT 400
+#define FLOOR_3_HIGHT 800
+
+
+/* to determine the direction of elevator */
+#define MOTOR_UPWARD   (TIM3->CCR1)
+#define MOTOR_DOWNWARD (TIM3->CCR2)
+#define MOTOR_STOPPED  (!MOTOR_UPWARD && !MOTOR_DOWNWARD)
+
+void floorToVisit(void);
+void arrivedAtFloor(void);
+
+/* global variable for floor flags */
+int floorFlags[4] = {1, 1, 1, 1};
+
+void floorToVisit(void)
+{
+		if(floorFlags[0]){
+			floorFlags[3] = 1;
+			setCarTargetPosition(FLOOR_1_HIGHT);
+			printf("Go to floor 1\n");
+			setCarMotorStopped(0);
+		}
+		else if (floorFlags[1]){
+			floorFlags[3] = 2;
+			setCarTargetPosition(FLOOR_2_HIGHT);
+			printf("Go to floor 2\n");
+			setCarMotorStopped(0);
+		}
+		else if (floorFlags[2]){
+			floorFlags[3] = 3;
+			setCarTargetPosition(FLOOR_3_HIGHT);
+			printf("Go to floor 3\n");
+			setCarMotorStopped(0);
+		}
+		else
+			printf("No floor to go\n");
+			
+		printf("Floor flags when start move: %i, %i, %i, %i\n", floorFlags[0], floorFlags[1], floorFlags[2], floorFlags[3]);
+}
+
+int getCurrentFloor(void)
+{
+	int position = getCarPosition();
+	return (position + 1) / FLOOR_2_HIGHT + 1;
+}
+
+static void plannerTask(void *params) {
+  
+  PinEvent pvBuffer = UNASSIGNED;
+  portBASE_TYPE xStatus;
+  int curFloor = 0;
+  portTickType xTaskLastWakeTime;
+	
+  floorFlags[0] = 0;
+	floorFlags[1] = 0;
+	floorFlags[2] = 0;
+	floorFlags[3] = 1;
+    
+  /* Receive from the queue */
+	xTaskLastWakeTime = xTaskGetTickCount();
+	
+  for (;;) {
+	  xStatus = xQueueReceive(pinEventQueue, &pvBuffer, portMAX_DELAY);
+	  
+      if (xStatus == pdPASS) {  
+				switch (pvBuffer) {
+					case TO_FLOOR_1:
+						printf("Button to floor 1 pressed\n");
+						floorFlags[0] = 1;
+						printf("Floor flags when button pressed: %i, %i, %i, %i\n", floorFlags[0], floorFlags[1], floorFlags[2], floorFlags[3]);
+						break;
+					
+					case TO_FLOOR_2:
+						printf("Button to floor 2 pressed\n");
+						floorFlags[1] = 1;
+						printf("Floor flags when button pressed: %i, %i, %i, %i\n", floorFlags[0], floorFlags[1], floorFlags[2], floorFlags[3]);
+						if( getCarPosition() <= 0.5*FLOOR_2_HIGHT){
+							printf("Next stop at floor 2\n");
+							floorFlags[3] = 2;
+							floorToVisit();
+						}
+						break;
+					
+					case TO_FLOOR_3:
+						printf("Button to floor 3 pressed\n");
+						floorFlags[2] = 1;
+						printf("Floor flags when button pressed: %i, %i, %i, %i\n", floorFlags[0], floorFlags[1], floorFlags[2], floorFlags[3]);
+						break;
+					
+					case ARRIVED_AT_FLOOR:
+						curFloor = getCurrentFloor();
+						if(floorFlags[3] == curFloor) { // stop motor only when arriving the floor in the plan
+//							setCarMotorStopped(1);
+							printf("Arrived At Floor, Current floor: %i\n", curFloor);
+							floorFlags[floorFlags[3]-1] = 0; // clear the floor flag
+							printf("Floor flags when clear flags: %i, %i, %i, %i\n", floorFlags[0], floorFlags[1], floorFlags[2], floorFlags[3]);
+							printf("Wait 1 sec at the floor\n");
+							vTaskDelay(1000 / portTICK_RATE_MS);
+							setCarMotorStopped(1);
+						}
+						break;
+					
+					case STOP_PRESSED:
+						printf("Stop button is pressed\n");
+						setCarMotorStopped(1);
+						break;
+					
+					case STOP_RELEASED:
+						printf("Stop button is released\n");
+						floorToVisit();
+						break;
+					
+					case DOORS_CLOSED:
+						printf("Door closed\n");
+						floorToVisit();
+						break;
+					
+					case DOORS_OPENING:
+						printf("Door opening\n");
+						xTaskLastWakeTime = xTaskGetTickCount();
+						break;
+					
+					default:
+						 printf("Default case, do nothing\n");	
+				} // end switch
+			} // end if pdPASS
+			else
+				printf("Nothing in the queue\n");
+			
+		} // end for loop
+}
+
+void setupPlanner(unsigned portBASE_TYPE uxPriority) {
+  xTaskCreate(plannerTask, "planner", 100, NULL, uxPriority, NULL);
+}
diff --git a/planner.crf b/planner.crf
new file mode 100644
index 0000000..9b33d22
Binary files /dev/null and b/planner.crf differ
diff --git a/planner.d b/planner.d
new file mode 100644
index 0000000..87f671a
--- /dev/null
+++ b/planner.d
@@ -0,0 +1,22 @@
+.\planner.o: planner.c
+.\planner.o: .\FreeRTOS\inc\FreeRTOS.h
+.\planner.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\planner.o: .\FreeRTOS\inc\projdefs.h
+.\planner.o: .\FreeRTOSConfig.h
+.\planner.o: .\FreeRTOS\inc\portable.h
+.\planner.o: .\FreeRTOS\inc\portmacro.h
+.\planner.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\planner.o: .\FreeRTOS\inc\task.h
+.\planner.o: .\FreeRTOS\inc\list.h
+.\planner.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
+.\planner.o: global.h
+.\planner.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\planner.o: .\FreeRTOS\inc\queue.h
+.\planner.o: planner.h
+.\planner.o: assert.h
+.\planner.o: pin_listener.h
+.\planner.o: .\FreeRTOS\inc\queue.h
+.\planner.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\planner.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\planner.o: .\stm32f10x_conf.h
+.\planner.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
diff --git a/planner.h b/planner.h
new file mode 100644
index 0000000..dde341b
--- /dev/null
+++ b/planner.h
@@ -0,0 +1,18 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * The planner module, which is responsible for consuming
+ * pin/key events, and for deciding where the elevator
+ * should go next
+ */
+
+#ifndef PLANNER_H
+#define PLANNER_H
+
+void setupPlanner(unsigned portBASE_TYPE uxPriority);
+
+#endif
diff --git a/planner.o b/planner.o
new file mode 100644
index 0000000..2d37879
Binary files /dev/null and b/planner.o differ
diff --git a/port.crf b/port.crf
new file mode 100644
index 0000000..4f06bed
Binary files /dev/null and b/port.crf differ
diff --git a/port.d b/port.d
new file mode 100644
index 0000000..306fd0e
--- /dev/null
+++ b/port.d
@@ -0,0 +1,10 @@
+.\port.o: FreeRTOS\src\port.c
+.\port.o: .\FreeRTOS\inc\FreeRTOS.h
+.\port.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\port.o: .\FreeRTOS\inc\projdefs.h
+.\port.o: .\FreeRTOSConfig.h
+.\port.o: .\FreeRTOS\inc\portable.h
+.\port.o: .\FreeRTOS\inc\portmacro.h
+.\port.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\port.o: .\FreeRTOS\inc\task.h
+.\port.o: .\FreeRTOS\inc\list.h
diff --git a/port.o b/port.o
new file mode 100644
index 0000000..3a76b83
Binary files /dev/null and b/port.o differ
diff --git a/position_tracker.c b/position_tracker.c
new file mode 100644
index 0000000..b85aa4f
--- /dev/null
+++ b/position_tracker.c
@@ -0,0 +1,92 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * Class for keeping track of the car position.
+ */
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "position_tracker.h"
+#include "assert.h"
+
+static void positionTrackerTask(void *params) {
+    PositionTracker * tracker= (PositionTracker *)params;
+	u8 prevDirection = 0;
+	u8 curDirection = 0;
+    portTickType xLastWakeTime;
+  
+    xLastWakeTime = xTaskGetTickCount();
+	
+   for (;;) {
+		 curDirection = GPIO_ReadInputDataBit(tracker->gpio, tracker->pin);
+		 
+		 if (curDirection > prevDirection) {
+		 
+         if(xSemaphoreTake(tracker->lock, portMAX_DELAY))
+		     {
+					 if (tracker->direction == Up) {
+						  ++tracker->position;
+					 }
+						
+					 
+					 else if (tracker->direction == Down) {
+						 --tracker->position;
+					 }
+						  
+					 
+					 else if (tracker->position == Unknown) {
+						 tracker->position = tracker->position;
+//						 printf("Nothing\n");
+					 }
+						 					 
+					 xSemaphoreGive(tracker->lock);
+		      }
+		  		  
+		 else printf("Semaphore take failed\n");
+				    
+	     }
+		
+		prevDirection = curDirection;
+		
+	    vTaskDelayUntil(&xLastWakeTime, tracker->pollingPeriod); 
+  }
+}
+void setupPositionTracker(PositionTracker *tracker,
+                          GPIO_TypeDef * gpio, u16 pin,
+						  portTickType pollingPeriod,
+						  unsigned portBASE_TYPE uxPriority) {
+  portBASE_TYPE res;
+
+  tracker->position = 0;
+  tracker->lock = xSemaphoreCreateMutex();
+  assert(tracker->lock != NULL);
+  tracker->direction = Unknown;
+  tracker->gpio = gpio;
+  tracker->pin = pin;
+  tracker->pollingPeriod = pollingPeriod;
+	
+  res = xTaskCreate(positionTrackerTask, "position tracker",
+                    80, (void*)tracker, uxPriority, NULL);
+  assert(res == pdTRUE);
+}
+
+void setDirection(PositionTracker *tracker, Direction dir) {
+
+	xSemaphoreTake(tracker->lock, portMAX_DELAY);
+	tracker->direction = dir;
+    xSemaphoreGive(tracker->lock);
+}
+
+s32 getPosition(PositionTracker *tracker) {
+  //vs32 pos;
+  
+  //xSemaphoreTake(tracker->lock, portMAX_DELAY);
+  //pos = tracker->position;
+  //xSemaphoreGive(tracker->lock);
+  
+  return tracker->position;
+}
\ No newline at end of file
diff --git a/position_tracker.crf b/position_tracker.crf
new file mode 100644
index 0000000..ba07af1
Binary files /dev/null and b/position_tracker.crf differ
diff --git a/position_tracker.d b/position_tracker.d
new file mode 100644
index 0000000..c8af129
--- /dev/null
+++ b/position_tracker.d
@@ -0,0 +1,19 @@
+.\position_tracker.o: position_tracker.c
+.\position_tracker.o: .\FreeRTOS\inc\FreeRTOS.h
+.\position_tracker.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\position_tracker.o: .\FreeRTOS\inc\projdefs.h
+.\position_tracker.o: .\FreeRTOSConfig.h
+.\position_tracker.o: .\FreeRTOS\inc\portable.h
+.\position_tracker.o: .\FreeRTOS\inc\portmacro.h
+.\position_tracker.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\position_tracker.o: .\FreeRTOS\inc\task.h
+.\position_tracker.o: .\FreeRTOS\inc\list.h
+.\position_tracker.o: position_tracker.h
+.\position_tracker.o: .\FreeRTOS\inc\semphr.h
+.\position_tracker.o: .\FreeRTOS\inc\queue.h
+.\position_tracker.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\position_tracker.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\position_tracker.o: .\stm32f10x_conf.h
+.\position_tracker.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\position_tracker.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\position_tracker.o: assert.h
diff --git a/position_tracker.h b/position_tracker.h
new file mode 100644
index 0000000..744c52b
--- /dev/null
+++ b/position_tracker.h
@@ -0,0 +1,64 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * Class for keeping track of the car position. This is done
+ * through pulse rate sensing, e.g., using an optical rotary
+ * encoder or by counting pulses along a linear scale in the
+ * elevator shaft
+ */
+
+#ifndef POSITION_TRACKER_H
+#define POSITION_TRACKER_H
+
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "stm32f10x_gpio.h"
+
+typedef enum {
+  Unknown = 0, Up = 1, Down = 2
+} Direction;
+
+typedef struct {
+
+  GPIO_TypeDef * gpio;  		  // Pin to listener at, e.g., GPIOC,
+  u16 pin;  					  // GPIO_Pin_4
+
+  vs32 position;				  // The current position. This variable
+                                  // should only be accessed through
+								  // the function "getPosition"
+  xSemaphoreHandle lock;          // Mutex semaphore protecting the struct
+
+  portTickType pollingPeriod;	  // how often the status of pins is polled
+
+  Direction direction;			  // current direction of movement, which
+                                  // is necessary to know in which direction
+								  // to count
+
+} PositionTracker; 
+
+/**
+ * Setup a tracker object. This creates a task that
+ * regularly polls the specified pin for changes
+ */
+void setupPositionTracker(PositionTracker *tracker,
+                          GPIO_TypeDef *gpio, u16 pin,
+						  portTickType pollingPeriod,
+						  unsigned portBASE_TYPE uxPriority);
+
+/**
+ * Set the current direction of movement (Up means that
+ * the position is incremented, Down that the position is
+ * decremented)
+ */
+void setDirection(PositionTracker *tracker, Direction dir);
+
+/**
+ * Get the current position
+ */
+s32 getPosition(PositionTracker *tracker);
+
+#endif
diff --git a/position_tracker.o b/position_tracker.o
new file mode 100644
index 0000000..f487a73
Binary files /dev/null and b/position_tracker.o differ
diff --git a/queue.crf b/queue.crf
new file mode 100644
index 0000000..d540b50
Binary files /dev/null and b/queue.crf differ
diff --git a/queue.d b/queue.d
new file mode 100644
index 0000000..04e15fd
--- /dev/null
+++ b/queue.d
@@ -0,0 +1,13 @@
+.\queue.o: FreeRTOS\src\queue.c
+.\queue.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
+.\queue.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
+.\queue.o: .\FreeRTOS\inc\FreeRTOS.h
+.\queue.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\queue.o: .\FreeRTOS\inc\projdefs.h
+.\queue.o: .\FreeRTOSConfig.h
+.\queue.o: .\FreeRTOS\inc\portable.h
+.\queue.o: .\FreeRTOS\inc\portmacro.h
+.\queue.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\queue.o: .\FreeRTOS\inc\task.h
+.\queue.o: .\FreeRTOS\inc\list.h
+.\queue.o: .\FreeRTOS\inc\croutine.h
diff --git a/queue.o b/queue.o
new file mode 100644
index 0000000..46f4db4
Binary files /dev/null and b/queue.o differ
diff --git a/safety.c b/safety.c
new file mode 100644
index 0000000..84a2af2
--- /dev/null
+++ b/safety.c
@@ -0,0 +1,200 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * This file defines the safety module, which observes the running
+ * elevator system and is able to stop the elevator in critical
+ * situations
+ */
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "stm32f10x_tim.h"
+#include "stm32f10x_gpio.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "global.h"
+#include "assert.h"
+#include "motor.h"
+
+#define POLL_TIME (10 / portTICK_RATE_MS)
+
+#define MOTOR_UPWARD   (TIM3->CCR1)
+#define MOTOR_DOWNWARD (TIM3->CCR2)
+#define MOTOR_STOPPED  (!MOTOR_UPWARD && !MOTOR_DOWNWARD)
+#define MOTOR_UPWARD_SPEED ((float)(TIM3->CCR1) / 200.0)
+#define MOTOR_DOWNWARD_SPEED ((float)(TIM3->CCR2) / 200.0)
+
+
+#define BUTTON1_PRESSED  GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_0)
+#define BUTTON2_PRESSED  GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_1)
+#define BUTTON3_PRESSED  GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2)
+
+#define STOP_PRESSED  GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_3)
+#define AT_FLOOR      GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_7)
+#define DOORS_CLOSED  GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_8)
+
+#define FLOOR_1_HIGHT 0
+#define FLOOR_2_HIGHT 400
+#define FLOOR_3_HIGHT 800
+
+static portTickType xLastWakeTime;
+
+static void check(u8 assertion, char *name) {
+  if (!assertion) {
+    printf("SAFETY REQUIREMENT %s VIOLATED: STOPPING ELEVATOR\n", name);
+    for (;;) {
+	  setCarMotorStopped(1);
+  	  vTaskDelayUntil(&xLastWakeTime, POLL_TIME);
+    }
+  }
+}
+
+static void safetyTask(void *params) {
+	s32 timeSinceButton1Pressed = -1;
+	s32 timeSinceButton2Pressed = -1;
+	s32 timeSinceButton3Pressed = -1;
+	
+  s16 timeSinceStopPressed = -1;
+	s16 timeSinceElevatorAtFloor = -1;
+	s32 carPosition = 0;
+	/*
+	s16 stopped = 0;
+	s16 doorsWereOpen = 0;
+	*/
+	s16 lastUpwardSpeed = 0;
+	s16 lastDownwardSpeed = 0;
+	
+	int last_StopPressed = 0;
+	
+  xLastWakeTime = xTaskGetTickCount();
+
+  for (;;) {
+    // Environment assumption 1: the doors can only be opened if
+	//                           the elevator is at a floor and
+    //                           the motor is not active
+
+	check((AT_FLOOR && MOTOR_STOPPED) || DOORS_CLOSED,
+	      "env1");
+
+	// fill in environment assumption 2
+	check(MOTOR_UPWARD_SPEED <= 50.0 && MOTOR_DOWNWARD_SPEED <= 50.0, "env2");
+
+	// fill in environment assumption 3
+	carPosition = getCarPosition();
+	check(
+		!AT_FLOOR
+		|| (carPosition >= -1 && carPosition <= 1)    // floor 1
+		|| (carPosition >= FLOOR_2_HIGHT-1 && carPosition <= FLOOR_2_HIGHT+1) // floor 2
+		|| (carPosition >= FLOOR_3_HIGHT-1 && carPosition <= FLOOR_3_HIGHT+1),// floor 3
+	"env3");
+
+
+	// fill in your own environment assumption 4
+	if (BUTTON1_PRESSED) {
+		if (timeSinceButton1Pressed < 0) {
+			timeSinceButton1Pressed = 0;
+		} else {
+			timeSinceButton1Pressed += POLL_TIME;
+		}
+		check(timeSinceButton1Pressed * portTICK_RATE_MS <= 30000, "env4.1");
+		
+	} else {
+		timeSinceButton1Pressed = -1;
+	}
+	if (BUTTON2_PRESSED) {
+		if (timeSinceButton2Pressed < 0) {
+			timeSinceButton2Pressed = 0;
+		} else {
+			timeSinceButton2Pressed += POLL_TIME;
+		}
+		check(timeSinceButton2Pressed * portTICK_RATE_MS <= 30000, "env4.2");
+		
+	} else {
+		timeSinceButton2Pressed = -1;
+	}
+	if (BUTTON3_PRESSED) {
+		if (timeSinceButton3Pressed < 0) {
+			timeSinceButton3Pressed = 0;
+		} else {
+			timeSinceButton3Pressed += POLL_TIME;
+		}
+		check(timeSinceButton3Pressed * portTICK_RATE_MS <= 30000, "env4.2");
+		
+	} else {
+		timeSinceButton3Pressed = -1;
+	}
+	
+
+    // System requirement 1: if the stop button is pressed, the motor is
+	//                       stopped within 1s
+
+	if (STOP_PRESSED) {
+	  if (timeSinceStopPressed < 0)
+	    timeSinceStopPressed = 0;
+      else
+	    timeSinceStopPressed += POLL_TIME;
+
+      check(timeSinceStopPressed * portTICK_RATE_MS <= 1000 || MOTOR_STOPPED,
+	        "req1");
+	} else {
+	  timeSinceStopPressed = -1;
+	}
+
+    // System requirement 2: the motor signals for upwards and downwards
+	//                       movement are not active at the same time
+
+    check(!MOTOR_UPWARD || !MOTOR_DOWNWARD,
+          "req2");
+
+	// fill in safety requirement 3
+	 check(carPosition >= FLOOR_1_HIGHT && carPosition <= FLOOR_3_HIGHT, "req3");
+
+	
+/*	if(!((MOTOR_STOPPED==STOP_PRESSED)||(MOTOR_STOPPED==AT_FLOOR))){
+		printf("MOTOR_STOPPED is %d\n", MOTOR_STOPPED);
+		printf("STOP_PRESSED is %d\n", STOP_PRESSED);
+		printf("AT_FLOOR is %d\n", AT_FLOOR);
+	} */
+	// fill in safety requirement 4
+	if(STOP_PRESSED){
+		last_StopPressed = 1;
+		check( (MOTOR_STOPPED==STOP_PRESSED)||(MOTOR_STOPPED==AT_FLOOR) , "req4");
+	}
+	else
+	 check( (MOTOR_STOPPED==STOP_PRESSED)||(MOTOR_STOPPED==AT_FLOOR)||last_StopPressed, "req4"); 
+	
+
+	// fill in safety requirement 5
+	if (MOTOR_STOPPED && AT_FLOOR) {
+	  if (timeSinceElevatorAtFloor < 0)
+	    timeSinceElevatorAtFloor = 0;
+		else
+	    timeSinceElevatorAtFloor += POLL_TIME;
+	} else {
+		check(timeSinceElevatorAtFloor == -1 || timeSinceElevatorAtFloor * portTICK_RATE_MS >= 1000,
+	        "req5");
+	  timeSinceElevatorAtFloor = -1;
+	}
+
+	// fill in safety requirement 6	
+	check(abs(lastUpwardSpeed - MOTOR_UPWARD_SPEED) <= 5.0
+	&& abs(lastDownwardSpeed - MOTOR_DOWNWARD_SPEED) <= 5.0, "req6");
+	lastUpwardSpeed = MOTOR_UPWARD_SPEED;
+	lastDownwardSpeed = MOTOR_DOWNWARD_SPEED;
+	
+	
+	vTaskDelayUntil(&xLastWakeTime, POLL_TIME);
+	
+  }
+
+}
+
+void setupSafety(unsigned portBASE_TYPE uxPriority, Motor * motor) {
+  xTaskCreate(safetyTask, "safety", 100, NULL, uxPriority, NULL);
+	
+}
diff --git a/safety.crf b/safety.crf
new file mode 100644
index 0000000..1fbc559
Binary files /dev/null and b/safety.crf differ
diff --git a/safety.d b/safety.d
new file mode 100644
index 0000000..fdfc44d
--- /dev/null
+++ b/safety.d
@@ -0,0 +1,26 @@
+.\safety.o: safety.c
+.\safety.o: .\FreeRTOS\inc\FreeRTOS.h
+.\safety.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\safety.o: .\FreeRTOS\inc\projdefs.h
+.\safety.o: .\FreeRTOSConfig.h
+.\safety.o: .\FreeRTOS\inc\portable.h
+.\safety.o: .\FreeRTOS\inc\portmacro.h
+.\safety.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\safety.o: .\FreeRTOS\inc\task.h
+.\safety.o: .\FreeRTOS\inc\list.h
+.\safety.o: .\STM32F10xFWLib\inc\stm32f10x_tim.h
+.\safety.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\safety.o: .\stm32f10x_conf.h
+.\safety.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\safety.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\safety.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\safety.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
+.\safety.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
+.\safety.o: global.h
+.\safety.o: .\FreeRTOS\inc\queue.h
+.\safety.o: assert.h
+.\safety.o: motor.h
+.\safety.o: .\FreeRTOS\inc\semphr.h
+.\safety.o: .\FreeRTOS\inc\queue.h
+.\safety.o: position_tracker.h
+.\safety.o: .\FreeRTOS\inc\semphr.h
diff --git a/safety.h b/safety.h
new file mode 100644
index 0000000..0134238
--- /dev/null
+++ b/safety.h
@@ -0,0 +1,18 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * This file defines the safety module, which observe the running
+ * elevator system and is able to stop the elevator in critical
+ * situations
+ */
+
+#ifndef SAFETY_H
+#define SAFETY_H
+
+void setupSafety(unsigned portBASE_TYPE uxPriority);
+
+#endif
diff --git a/safety.o b/safety.o
new file mode 100644
index 0000000..7c70f43
Binary files /dev/null and b/safety.o differ
diff --git a/serial.crf b/serial.crf
new file mode 100644
index 0000000..5fbf7c5
Binary files /dev/null and b/serial.crf differ
diff --git a/serial.d b/serial.d
new file mode 100644
index 0000000..f379dfd
--- /dev/null
+++ b/serial.d
@@ -0,0 +1,24 @@
+.\serial.o: FreeRTOS\src\serial.c
+.\serial.o: .\FreeRTOS\inc\FreeRTOS.h
+.\serial.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\serial.o: .\FreeRTOS\inc\projdefs.h
+.\serial.o: .\FreeRTOSConfig.h
+.\serial.o: .\FreeRTOS\inc\portable.h
+.\serial.o: .\FreeRTOS\inc\portmacro.h
+.\serial.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\serial.o: .\FreeRTOS\inc\queue.h
+.\serial.o: .\FreeRTOS\inc\semphr.h
+.\serial.o: .\FreeRTOS\inc\queue.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_lib.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\serial.o: .\stm32f10x_conf.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\serial.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_exti.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_nvic.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_spi.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_systick.h
+.\serial.o: .\STM32F10xFWLib\inc\stm32f10x_usart.h
+.\serial.o: .\FreeRTOS\inc\serial.h
diff --git a/serial.o b/serial.o
new file mode 100644
index 0000000..6daf95c
Binary files /dev/null and b/serial.o differ
diff --git a/setup.c b/setup.c
new file mode 100644
index 0000000..e721f50
--- /dev/null
+++ b/setup.c
@@ -0,0 +1,97 @@
+/**
+ * Program skeleton for the course "Programming embedded systems"
+ *
+ * Lab 1: the elevator control system
+ */
+
+/**
+ * General setup
+ *
+ * It is not necessary to change anything in this file
+ */
+
+#include "setup.h"
+
+#include <stdio.h>
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "serial.h"
+#include "stm32f10x_it.h"
+
+static xComPortHandle xPort;
+
+/*
+ * Configure the clocks, GPIO and other peripherals.
+ */
+void prvSetupHardware( void )
+{
+	/* Start with the clocks in their expected state. */
+	RCC_DeInit();
+
+	/* Enable HSE (high speed external clock). */
+	RCC_HSEConfig( RCC_HSE_ON );
+
+	/* Wait till HSE is ready. */
+	while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
+	{
+	}
+
+	/* 2 wait states required on the flash. */
+	*( ( unsigned portLONG * ) 0x40022000 ) = 0x02;
+
+	/* HCLK = SYSCLK */
+	RCC_HCLKConfig( RCC_SYSCLK_Div1 );
+
+	/* PCLK2 = HCLK */
+	RCC_PCLK2Config( RCC_HCLK_Div1 );
+
+	/* PCLK1 = HCLK/2 */
+	RCC_PCLK1Config( RCC_HCLK_Div2 );
+
+	/* PLLCLK = 8MHz * 9 = 72 MHz. */
+	RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );
+
+	/* Enable PLL. */
+	RCC_PLLCmd( ENABLE );
+
+	/* Wait till PLL is ready. */
+	while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
+	{
+	}
+
+	/* Select PLL as system clock source. */
+	RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
+
+	/* Wait till PLL is used as system clock source. */
+	while( RCC_GetSYSCLKSource() != 0x08 )
+	{
+	}
+
+	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
+	RCC_APB2PeriphClockCmd(	RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
+							| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
+
+	/* SPI2 Periph clock enable */
+	RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
+
+
+	/* Set the Vector Table base address at 0x08000000 */
+	NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
+
+	NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
+	
+	/* Configure HCLK clock as SysTick clock source. */
+	SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
+
+	/* setup a serial port so that we can print to it */
+    xPort = xSerialPortInitMinimal(115200, 64);
+}
+/*-----------------------------------------------------------*/
+
+/* Retarget printing to the serial port 1 */
+int fputc(int ch, FILE *f) {
+  xSerialPutChar(xPort, (signed portCHAR)ch, 10000 / portTICK_RATE_MS);
+  return ch;
+}
diff --git a/setup.crf b/setup.crf
new file mode 100644
index 0000000..03b3394
Binary files /dev/null and b/setup.crf differ
diff --git a/setup.d b/setup.d
new file mode 100644
index 0000000..996cac7
--- /dev/null
+++ b/setup.d
@@ -0,0 +1,27 @@
+.\setup.o: setup.c
+.\setup.o: setup.h
+.\setup.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
+.\setup.o: .\FreeRTOS\inc\FreeRTOS.h
+.\setup.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h
+.\setup.o: .\FreeRTOS\inc\projdefs.h
+.\setup.o: .\FreeRTOSConfig.h
+.\setup.o: .\FreeRTOS\inc\portable.h
+.\setup.o: .\FreeRTOS\inc\portmacro.h
+.\setup.o: .\FreeRTOS\inc\mpu_wrappers.h
+.\setup.o: .\FreeRTOS\inc\task.h
+.\setup.o: .\FreeRTOS\inc\list.h
+.\setup.o: .\FreeRTOS\inc\queue.h
+.\setup.o: .\FreeRTOS\inc\serial.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_it.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_lib.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\setup.o: .\stm32f10x_conf.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\setup.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_exti.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_nvic.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_spi.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_systick.h
+.\setup.o: .\STM32F10xFWLib\inc\stm32f10x_usart.h
diff --git a/setup.h b/setup.h
new file mode 100644
index 0000000..2dd4dde
--- /dev/null
+++ b/setup.h
@@ -0,0 +1,11 @@
+
+
+#ifndef SETUP_H
+#define SETUP_H
+
+/*
+ * Configure the clocks, GPIO and other peripherals as required by the demo.
+ */
+void prvSetupHardware( void );
+
+#endif
diff --git a/setup.o b/setup.o
new file mode 100644
index 0000000..d40d4cc
Binary files /dev/null and b/setup.o differ
diff --git a/stm32_exec.axf b/stm32_exec.axf
new file mode 100644
index 0000000..be8deb3
Binary files /dev/null and b/stm32_exec.axf differ
diff --git a/stm32_exec.build_log.htm b/stm32_exec.build_log.htm
new file mode 100644
index 0000000..56c9886
--- /dev/null
+++ b/stm32_exec.build_log.htm
@@ -0,0 +1,35 @@
+<html>
+<body>
+<pre>
+<h1>µVision Build Log</h1>
+<h2>Tool Versions:</h2>
+IDE-Version: £gVision V5.13.0.0
+Copyright (C) 2014 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: tony Microsoft, Microsoft, LIC=----
+ 
+Tool Versions:
+Toolchain:       MDK-Lite  Version: 5.13.0.0
+Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
+C Compiler:      Armcc.exe V5.05 update 1 (build 106)
+Assembler:       Armasm.exe V5.05 update 1 (build 106)
+Linker/Locator:  ArmLink.exe V5.05 update 1 (build 106)
+Library Manager: ArmAr.exe V5.05 update 1 (build 106)
+Hex Converter:   FromElf.exe V5.05 update 1 (build 106)
+CPU DLL:         SARMCM3.DLL V5.13.0.0
+Dialog DLL:      DARMSTM.DLL V1.65.0.0
+Target DLL:      UL2CM3.DLL V1.154.12.0
+Dialog DLL:      TARMSTM.DLL V1.64.0.0
+ 
+<h2>Project:</h2>
+C:\Users\tony\Desktop\Embedded System Programming Lab\elevator-lab\uVisionProject\lab_env.uvproj
+Project File Date:  02/20/2015
+
+<h2>Output:</h2>
+Build target 'Target 1'
+compiling safety.c...
+linking...
+Program Size: Code=16980 RO-data=304 RW-data=220 ZI-data=18172  
+".\stm32_exec.axf" - 0 Error(s), 0 Warning(s).
+</pre>
+</body>
+</html>
diff --git a/stm32_exec.htm b/stm32_exec.htm
new file mode 100644
index 0000000..3552b46
--- /dev/null
+++ b/stm32_exec.htm
@@ -0,0 +1,2163 @@
+<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
+<html><head>
+<title>Static Call Graph - [.\stm32_exec.axf]</title></head>
+<body><HR>
+<H1>Static Call Graph for image .\stm32_exec.axf</H1><HR>
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5050106: Last Updated: Sun Apr 26 07:55:20 2015
+<BR><P>
+<H3>Maximum Stack Usage =        216 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
+Call chain for Maximum Stack Depth:</H3>
+main &rArr; setupActuatorModule &rArr; setupMotor &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+<P>
+<H3>
+Functions with no stack information
+</H3><UL>
+ <LI><a href="#[175]">__WFI</a>
+ <LI><a href="#[176]">__WFE</a>
+ <LI><a href="#[177]">__SEV</a>
+ <LI><a href="#[178]">__ISB</a>
+ <LI><a href="#[179]">__DSB</a>
+ <LI><a href="#[17a]">__DMB</a>
+ <LI><a href="#[17b]">__SVC</a>
+ <LI><a href="#[17c]">__MRS_CONTROL</a>
+ <LI><a href="#[17d]">__MSR_CONTROL</a>
+ <LI><a href="#[17e]">__MRS_PSP</a>
+ <LI><a href="#[17f]">__MSR_PSP</a>
+ <LI><a href="#[180]">__MRS_MSP</a>
+ <LI><a href="#[181]">__MSR_MSP</a>
+ <LI><a href="#[48]">__SETPRIMASK</a>
+ <LI><a href="#[4a]">__RESETPRIMASK</a>
+ <LI><a href="#[4c]">__SETFAULTMASK</a>
+ <LI><a href="#[4e]">__RESETFAULTMASK</a>
+ <LI><a href="#[50]">__BASEPRICONFIG</a>
+ <LI><a href="#[52]">__GetBASEPRI</a>
+ <LI><a href="#[182]">__REV_HalfWord</a>
+ <LI><a href="#[183]">__REV_Word</a>
+</UL>
+</UL>
+<P>
+<H3>
+Mutually Recursive functions
+</H3> <LI><a href="#[1]">NMI_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1]">NMI_Handler</a><BR>
+ <LI><a href="#[2]">HardFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[2]">HardFault_Handler</a><BR>
+ <LI><a href="#[3]">MemManage_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[3]">MemManage_Handler</a><BR>
+ <LI><a href="#[4]">BusFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[4]">BusFault_Handler</a><BR>
+ <LI><a href="#[5]">UsageFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[5]">UsageFault_Handler</a><BR>
+ <LI><a href="#[7]">DebugMon_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[7]">DebugMon_Handler</a><BR>
+ <LI><a href="#[1c]">ADC_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1c]">ADC_IRQHandler</a><BR>
+</UL>
+<P>
+<H3>
+Function Pointers
+</H3><UL>
+ <LI><a href="#[1c]">ADC_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[4]">BusFault_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[1f]">CAN_RX1_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[20]">CAN_SCE_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[15]">DMAChannel1_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[16]">DMAChannel2_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[17]">DMAChannel3_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[18]">DMAChannel4_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[19]">DMAChannel5_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[1a]">DMAChannel6_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[1b]">DMAChannel7_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[7]">DebugMon_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[10]">EXTI0_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[32]">EXTI15_10_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[11]">EXTI1_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[12]">EXTI2_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[13]">EXTI3_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[14]">EXTI4_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[21]">EXTI9_5_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[e]">FLASH_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2]">HardFault_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2a]">I2C1_ER_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[29]">I2C1_EV_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2c]">I2C2_ER_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2b]">I2C2_EV_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[3]">MemManage_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[1]">NMI_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[b]">PVD_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[f]">RCC_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[33]">RTCAlarm_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[d]">RTC_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[0]">Reset_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2d]">SPI1_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2e]">SPI2_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[c]">TAMPER_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[22]">TIM1_BRK_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[25]">TIM1_CC_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[24]">TIM1_TRG_COM_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[23]">TIM1_UP_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[26]">TIM2_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[27]">TIM3_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[28]">TIM4_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[30]">USART2_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[31]">USART3_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[34]">USBWakeUp_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[1d]">USB_HP_CAN_TX_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[1e]">USB_LP_CAN_RX0_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[5]">UsageFault_Handler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[a]">WWDG_IRQHandler</a> from stm32f10x.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[36]">__main</a> from entry.o(.ARM.Collect$$$$00000000) referenced from stm32f10x.o(.text)
+ <LI><a href="#[3d]">fputc</a> from setup.o(.text) referenced from printf3.o(i.__0printf$3)
+ <LI><a href="#[35]">main</a> from main.o(.text) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
+ <LI><a href="#[39]">motorTask</a> from motor.o(.text) referenced from motor.o(.text)
+ <LI><a href="#[3a]">plannerTask</a> from planner.o(.text) referenced from planner.o(.text)
+ <LI><a href="#[37]">pollPinsTask</a> from pin_listener.o(.text) referenced from pin_listener.o(.text)
+ <LI><a href="#[38]">positionTrackerTask</a> from position_tracker.o(.text) referenced from position_tracker.o(.text)
+ <LI><a href="#[3c]">prvIdleTask</a> from tasks.o(.text) referenced from tasks.o(.text)
+ <LI><a href="#[3b]">safetyTask</a> from safety.o(.text) referenced from safety.o(.text)
+ <LI><a href="#[6]">vPortSVCHandler</a> from port.o(.emb_text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[2f]">vUARTInterruptHandler</a> from serial.o(.text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[8]">xPortPendSVHandler</a> from port.o(.emb_text) referenced from stm32f10x.o(RESET)
+ <LI><a href="#[9]">xPortSysTickHandler</a> from port.o(.text) referenced from stm32f10x.o(RESET)
+</UL>
+<P>
+<H3>
+Global Symbols
+</H3>
+<P><STRONG><a name="[36]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(.text)
+</UL>
+<P><STRONG><a name="[fa]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
+
+<P><STRONG><a name="[3e]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
+<BR><BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+</UL>
+
+<P><STRONG><a name="[f6]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
+<BR><BR>[Called By]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+</UL>
+
+<P><STRONG><a name="[fb]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
+
+<P><STRONG><a name="[fc]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
+
+<P><STRONG><a name="[fd]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
+
+<P><STRONG><a name="[fe]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))
+
+<P><STRONG><a name="[ff]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
+
+<P><STRONG><a name="[6]"></a>vPortSVCHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, port.o(.emb_text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[b5]"></a>vPortStartFirstTask</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, port.o(.emb_text))
+<BR><BR>[Called By]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
+</UL>
+
+<P><STRONG><a name="[8]"></a>xPortPendSVHandler</STRONG> (Thumb, 56 bytes, Stack size 0 bytes, port.o(.emb_text))
+<BR><BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSwitchContext
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[b7]"></a>vPortSetInterruptMask</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, port.o(.emb_text))
+<BR><BR>[Called By]<UL><LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskEndScheduler
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
+<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
+<LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortSysTickHandler
+</UL>
+
+<P><STRONG><a name="[b9]"></a>vPortClearInterruptMask</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, port.o(.emb_text))
+<BR><BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
+<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortSysTickHandler
+</UL>
+
+<P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[2]"></a>HardFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HardFault_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HardFault_Handler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[3]"></a>MemManage_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MemManage_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MemManage_Handler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[4]"></a>BusFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[5]"></a>UsageFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UsageFault_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UsageFault_Handler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[41]"></a>SVC_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SVC_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SVC_Handler
+</UL>
+
+<P><STRONG><a name="[7]"></a>DebugMon_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DebugMon_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DebugMon_Handler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[42]"></a>PendSV_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
+</UL>
+
+<P><STRONG><a name="[43]"></a>SysTick_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f10x.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
+</UL>
+
+<P><STRONG><a name="[1c]"></a>ADC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC_IRQHandler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC_IRQHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[1f]"></a>CAN_RX1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[20]"></a>CAN_SCE_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[15]"></a>DMAChannel1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[16]"></a>DMAChannel2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[17]"></a>DMAChannel3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[18]"></a>DMAChannel4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[19]"></a>DMAChannel5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[1a]"></a>DMAChannel6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[1b]"></a>DMAChannel7_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[10]"></a>EXTI0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[32]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[11]"></a>EXTI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[12]"></a>EXTI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[13]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[14]"></a>EXTI4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[21]"></a>EXTI9_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[e]"></a>FLASH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[2a]"></a>I2C1_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[29]"></a>I2C1_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[2c]"></a>I2C2_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[2b]"></a>I2C2_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[b]"></a>PVD_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[f]"></a>RCC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[33]"></a>RTCAlarm_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[d]"></a>RTC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[2d]"></a>SPI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[2e]"></a>SPI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[c]"></a>TAMPER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[22]"></a>TIM1_BRK_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[25]"></a>TIM1_CC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[24]"></a>TIM1_TRG_COM_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[23]"></a>TIM1_UP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[100]"></a>USART1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text), UNUSED)
+
+<P><STRONG><a name="[30]"></a>USART2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[31]"></a>USART3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[34]"></a>USBWakeUp_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[1d]"></a>USB_HP_CAN_TX_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[1e]"></a>USB_LP_CAN_RX0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[a]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, stm32f10x.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[44]"></a>GPIO_DeInit</STRONG> (Thumb, 138 bytes, Stack size 8 bytes, stm32f10x_gpio.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphResetCmd
+</UL>
+
+<P><STRONG><a name="[46]"></a>GPIO_AFIODeInit</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, stm32f10x_gpio.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphResetCmd
+</UL>
+
+<P><STRONG><a name="[6c]"></a>GPIO_Init</STRONG> (Thumb, 278 bytes, Stack size 24 bytes, stm32f10x_gpio.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = GPIO_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupInputModule
+</UL>
+
+<P><STRONG><a name="[101]"></a>GPIO_StructInit</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[91]"></a>GPIO_ReadInputDataBit</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;positionTrackerTask
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPin
+</UL>
+
+<P><STRONG><a name="[102]"></a>GPIO_ReadInputData</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[103]"></a>GPIO_ReadOutputDataBit</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[104]"></a>GPIO_ReadOutputData</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[105]"></a>GPIO_WriteBit</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[106]"></a>GPIO_Write</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[107]"></a>GPIO_PinLockConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[108]"></a>GPIO_EventOutputConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[109]"></a>GPIO_EventOutputCmd</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[10a]"></a>GPIO_PinRemapConfig</STRONG> (Thumb, 86 bytes, Stack size 16 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[10b]"></a>GPIO_EXTILineConfig</STRONG> (Thumb, 66 bytes, Stack size 12 bytes, stm32f10x_gpio.o(.text), UNUSED)
+
+<P><STRONG><a name="[10c]"></a>NVIC_DeInit</STRONG> (Thumb, 54 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[10d]"></a>NVIC_SCBDeInit</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[8c]"></a>NVIC_PriorityGroupConfig</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[e5]"></a>NVIC_Init</STRONG> (Thumb, 152 bytes, Stack size 20 bytes, stm32f10x_nvic.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = NVIC_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+</UL>
+
+<P><STRONG><a name="[10e]"></a>NVIC_StructInit</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[47]"></a>NVIC_SETPRIMASK</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__SETPRIMASK
+</UL>
+
+<P><STRONG><a name="[49]"></a>NVIC_RESETPRIMASK</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__RESETPRIMASK
+</UL>
+
+<P><STRONG><a name="[4b]"></a>NVIC_SETFAULTMASK</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__SETFAULTMASK
+</UL>
+
+<P><STRONG><a name="[4d]"></a>NVIC_RESETFAULTMASK</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__RESETFAULTMASK
+</UL>
+
+<P><STRONG><a name="[4f]"></a>NVIC_BASEPRICONFIG</STRONG> (Thumb, 12 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__BASEPRICONFIG
+</UL>
+
+<P><STRONG><a name="[51]"></a>NVIC_GetBASEPRI</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__GetBASEPRI
+</UL>
+
+<P><STRONG><a name="[10f]"></a>NVIC_GetCurrentPendingIRQChannel</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[110]"></a>NVIC_GetIRQChannelPendingBitStatus</STRONG> (Thumb, 42 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[111]"></a>NVIC_SetIRQChannelPendingBit</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[112]"></a>NVIC_ClearIRQChannelPendingBit</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[113]"></a>NVIC_GetCurrentActiveHandler</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[114]"></a>NVIC_GetIRQChannelActiveBitStatus</STRONG> (Thumb, 42 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[115]"></a>NVIC_GetCPUID</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[8b]"></a>NVIC_SetVectorTable</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[116]"></a>NVIC_GenerateSystemReset</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[117]"></a>NVIC_GenerateCoreReset</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[118]"></a>NVIC_SystemLPConfig</STRONG> (Thumb, 34 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[119]"></a>NVIC_SystemHandlerConfig</STRONG> (Thumb, 48 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[11a]"></a>NVIC_SystemHandlerPriorityConfig</STRONG> (Thumb, 110 bytes, Stack size 20 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[11b]"></a>NVIC_GetSystemHandlerPendingBitStatus</STRONG> (Thumb, 44 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[11c]"></a>NVIC_SetSystemHandlerPendingBit</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[11d]"></a>NVIC_ClearSystemHandlerPendingBit</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[11e]"></a>NVIC_GetSystemHandlerActiveBitStatus</STRONG> (Thumb, 42 bytes, Stack size 8 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[11f]"></a>NVIC_GetFaultHandlerSources</STRONG> (Thumb, 66 bytes, Stack size 12 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[120]"></a>NVIC_GetFaultAddress</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, stm32f10x_nvic.o(.text), UNUSED)
+
+<P><STRONG><a name="[80]"></a>RCC_DeInit</STRONG> (Thumb, 78 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[81]"></a>RCC_HSEConfig</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[121]"></a>RCC_AdjustHSICalibrationValue</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[122]"></a>RCC_HSICmd</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[86]"></a>RCC_PLLConfig</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[87]"></a>RCC_PLLCmd</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[88]"></a>RCC_SYSCLKConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[89]"></a>RCC_GetSYSCLKSource</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[83]"></a>RCC_HCLKConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[85]"></a>RCC_PCLK1Config</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[84]"></a>RCC_PCLK2Config</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[123]"></a>RCC_ITConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[124]"></a>RCC_USBCLKConfig</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[125]"></a>RCC_ADCCLKConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[126]"></a>RCC_LSEConfig</STRONG> (Thumb, 50 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[127]"></a>RCC_LSICmd</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[128]"></a>RCC_RTCCLKConfig</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[129]"></a>RCC_RTCCLKCmd</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[67]"></a>RCC_GetClocksFreq</STRONG> (Thumb, 192 bytes, Stack size 12 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = RCC_GetClocksFreq
+</UL>
+<BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Init
+</UL>
+
+<P><STRONG><a name="[12a]"></a>RCC_AHBPeriphClockCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[8a]"></a>RCC_APB2PeriphClockCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[70]"></a>RCC_APB1PeriphClockCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+<LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[45]"></a>RCC_APB2PeriphResetCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_DeInit
+<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_AFIODeInit
+<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_DeInit
+</UL>
+
+<P><STRONG><a name="[54]"></a>RCC_APB1PeriphResetCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_DeInit
+<LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_DeInit
+</UL>
+
+<P><STRONG><a name="[12b]"></a>RCC_BackupResetCmd</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[12c]"></a>RCC_ClockSecuritySystemCmd</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[12d]"></a>RCC_MCOConfig</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[82]"></a>RCC_GetFlagStatus</STRONG> (Thumb, 56 bytes, Stack size 8 bytes, stm32f10x_rcc.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = RCC_GetFlagStatus
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[12e]"></a>RCC_ClearFlag</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[12f]"></a>RCC_GetITStatus</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[130]"></a>RCC_ClearITPendingBit</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_rcc.o(.text), UNUSED)
+
+<P><STRONG><a name="[8d]"></a>SysTick_CLKSourceConfig</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, stm32f10x_systick.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[131]"></a>SysTick_SetReload</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_systick.o(.text), UNUSED)
+
+<P><STRONG><a name="[132]"></a>SysTick_CounterCmd</STRONG> (Thumb, 52 bytes, Stack size 0 bytes, stm32f10x_systick.o(.text), UNUSED)
+
+<P><STRONG><a name="[133]"></a>SysTick_ITConfig</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, stm32f10x_systick.o(.text), UNUSED)
+
+<P><STRONG><a name="[134]"></a>SysTick_GetCounter</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_systick.o(.text), UNUSED)
+
+<P><STRONG><a name="[135]"></a>SysTick_GetFlagStatus</STRONG> (Thumb, 50 bytes, Stack size 8 bytes, stm32f10x_systick.o(.text), UNUSED)
+
+<P><STRONG><a name="[53]"></a>TIM_DeInit</STRONG> (Thumb, 84 bytes, Stack size 8 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM_DeInit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB1PeriphResetCmd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[72]"></a>TIM_TimeBaseInit</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[a3]"></a>TIM_OCInit</STRONG> (Thumb, 214 bytes, Stack size 12 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_OCInit
+</UL>
+<BR>[Called By]<UL><LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupMotor
+</UL>
+
+<P><STRONG><a name="[57]"></a>TIM_SetIC1Prescaler</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PWMI_Config
+</UL>
+
+<P><STRONG><a name="[59]"></a>TIM_SetIC2Prescaler</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PWMI_Config
+</UL>
+
+<P><STRONG><a name="[5e]"></a>TIM_SetIC4Prescaler</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+</UL>
+
+<P><STRONG><a name="[5c]"></a>TIM_SetIC3Prescaler</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+</UL>
+
+<P><STRONG><a name="[5a]"></a>TIM_ICInit</STRONG> (Thumb, 126 bytes, Stack size 16 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetIC3Prescaler
+<LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetIC4Prescaler
+<LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetIC2Prescaler
+<LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetIC1Prescaler
+<LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI3_Config
+<LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI4_Config
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PWMI_Config
+<LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI2_Config
+<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI1_Config
+</UL>
+
+<P><STRONG><a name="[71]"></a>TIM_TimeBaseStructInit</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[a2]"></a>TIM_OCStructInit</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupMotor
+</UL>
+
+<P><STRONG><a name="[136]"></a>TIM_ICStructInit</STRONG> (Thumb, 34 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[74]"></a>TIM_Cmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[137]"></a>TIM_ITConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[138]"></a>TIM_DMAConfig</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[139]"></a>TIM_DMACmd</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[13a]"></a>TIM_InternalClockConfig</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[60]"></a>TIM_SelectInputTrigger</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_TIxExternalClockConfig
+<LI><a href="#[5f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ITRxExternalClockConfig
+</UL>
+
+<P><STRONG><a name="[5f]"></a>TIM_ITRxExternalClockConfig</STRONG> (Thumb, 24 bytes, Stack size 12 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SelectInputTrigger
+</UL>
+
+<P><STRONG><a name="[61]"></a>TIM_TIxExternalClockConfig</STRONG> (Thumb, 62 bytes, Stack size 24 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SelectInputTrigger
+<LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI2_Config
+<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI1_Config
+</UL>
+
+<P><STRONG><a name="[62]"></a>TIM_ETRClockMode1Config</STRONG> (Thumb, 64 bytes, Stack size 24 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ETR_Config
+</UL>
+
+<P><STRONG><a name="[64]"></a>TIM_ETRClockMode2Config</STRONG> (Thumb, 36 bytes, Stack size 24 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ETR_Config
+</UL>
+
+<P><STRONG><a name="[13b]"></a>TIM_PrescalerConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[13c]"></a>TIM_CounterModeConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[13d]"></a>TIM_ForcedOC1Config</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[13e]"></a>TIM_ForcedOC2Config</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[13f]"></a>TIM_ForcedOC3Config</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[140]"></a>TIM_ForcedOC4Config</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[73]"></a>TIM_ARRPreloadConfig</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[141]"></a>TIM_SelectCCDMA</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[142]"></a>TIM_OC1PreloadConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[143]"></a>TIM_OC2PreloadConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[144]"></a>TIM_OC3PreloadConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[145]"></a>TIM_OC4PreloadConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[146]"></a>TIM_OC1FastConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[147]"></a>TIM_OC2FastConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[148]"></a>TIM_OC3FastConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[149]"></a>TIM_OC4FastConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[14a]"></a>TIM_UpdateDisableConfig</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[14b]"></a>TIM_EncoderInterfaceConfig</STRONG> (Thumb, 66 bytes, Stack size 20 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[14c]"></a>TIM_GenerateEvent</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[14d]"></a>TIM_OC1PolarityConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[14e]"></a>TIM_OC2PolarityConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[14f]"></a>TIM_OC3PolarityConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[150]"></a>TIM_OC4PolarityConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[151]"></a>TIM_UpdateRequestConfig</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[152]"></a>TIM_SelectHallSensor</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[153]"></a>TIM_SelectOnePulseMode</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[154]"></a>TIM_SelectOutputTrigger</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[155]"></a>TIM_SelectSlaveMode</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[156]"></a>TIM_SelectMasterSlaveMode</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[157]"></a>TIM_SetAutoreload</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[9b]"></a>TIM_SetCompare1</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCompare
+</UL>
+
+<P><STRONG><a name="[9c]"></a>TIM_SetCompare2</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCompare
+</UL>
+
+<P><STRONG><a name="[9d]"></a>TIM_SetCompare3</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCompare
+</UL>
+
+<P><STRONG><a name="[9e]"></a>TIM_SetCompare4</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCompare
+</UL>
+
+<P><STRONG><a name="[158]"></a>TIM_SetClockDivision</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[159]"></a>TIM_GetCapture1</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[15a]"></a>TIM_GetCapture2</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[15b]"></a>TIM_GetCapture3</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[15c]"></a>TIM_GetCapture4</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[15d]"></a>TIM_GetCounter</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[15e]"></a>TIM_GetPrescaler</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[15f]"></a>TIM_GetFlagStatus</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[160]"></a>TIM_ClearFlag</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[161]"></a>TIM_GetITStatus</STRONG> (Thumb, 34 bytes, Stack size 12 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[162]"></a>TIM_ClearITPendingBit</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_tim.o(.text), UNUSED)
+
+<P><STRONG><a name="[65]"></a>USART_DeInit</STRONG> (Thumb, 88 bytes, Stack size 8 bytes, stm32f10x_usart.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB1PeriphResetCmd
+<LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphResetCmd
+</UL>
+
+<P><STRONG><a name="[66]"></a>USART_Init</STRONG> (Thumb, 168 bytes, Stack size 48 bytes, stm32f10x_usart.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 60<LI>Call Chain = USART_Init &rArr; RCC_GetClocksFreq
+</UL>
+<BR>[Calls]<UL><LI><a href="#[67]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_GetClocksFreq
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+</UL>
+
+<P><STRONG><a name="[163]"></a>USART_StructInit</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[e6]"></a>USART_Cmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+</UL>
+
+<P><STRONG><a name="[e4]"></a>USART_ITConfig</STRONG> (Thumb, 64 bytes, Stack size 20 bytes, stm32f10x_usart.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = USART_ITConfig
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPutChar
+<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+<LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[164]"></a>USART_DMACmd</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[165]"></a>USART_SetAddress</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[166]"></a>USART_WakeUpConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[167]"></a>USART_ReceiverWakeUpCmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[168]"></a>USART_LINBreakDetectLengthConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[169]"></a>USART_LINCmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[ea]"></a>USART_SendData</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[eb]"></a>USART_ReceiveData</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[16a]"></a>USART_SendBreak</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[16b]"></a>USART_SetGuardTime</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[16c]"></a>USART_SetPrescaler</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[16d]"></a>USART_SmartCardCmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[16e]"></a>USART_SmartCardNACKCmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[16f]"></a>USART_HalfDuplexCmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[170]"></a>USART_IrDAConfig</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[171]"></a>USART_IrDACmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[172]"></a>USART_GetFlagStatus</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[173]"></a>USART_ClearFlag</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[e9]"></a>USART_GetITStatus</STRONG> (Thumb, 76 bytes, Stack size 16 bytes, stm32f10x_usart.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = USART_GetITStatus
+</UL>
+<BR>[Called By]<UL><LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[174]"></a>USART_ClearITPendingBit</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, stm32f10x_usart.o(.text), UNUSED)
+
+<P><STRONG><a name="[175]"></a>__WFI</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[176]"></a>__WFE</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[177]"></a>__SEV</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[178]"></a>__ISB</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[179]"></a>__DSB</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[17a]"></a>__DMB</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[17b]"></a>__SVC</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[17c]"></a>__MRS_CONTROL</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[17d]"></a>__MSR_CONTROL</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[17e]"></a>__MRS_PSP</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[17f]"></a>__MSR_PSP</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[180]"></a>__MRS_MSP</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[181]"></a>__MSR_MSP</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[48]"></a>__SETPRIMASK</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_SETPRIMASK
+</UL>
+
+<P><STRONG><a name="[4a]"></a>__RESETPRIMASK</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_RESETPRIMASK
+</UL>
+
+<P><STRONG><a name="[4c]"></a>__SETFAULTMASK</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_SETFAULTMASK
+</UL>
+
+<P><STRONG><a name="[4e]"></a>__RESETFAULTMASK</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_RESETFAULTMASK
+</UL>
+
+<P><STRONG><a name="[50]"></a>__BASEPRICONFIG</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_BASEPRICONFIG
+</UL>
+
+<P><STRONG><a name="[52]"></a>__GetBASEPRI</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_GetBASEPRI
+</UL>
+
+<P><STRONG><a name="[182]"></a>__REV_HalfWord</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[183]"></a>__REV_Word</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, cortexm3_macro_rvds.o(.text), UNUSED)
+
+<P><STRONG><a name="[68]"></a>assert_failed</STRONG> (Thumb, 18 bytes, Stack size 16 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = assert_failed &rArr; __2printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCompare
+<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPositionTracker
+<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPinListeners
+<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupMotor
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupInputModule
+</UL>
+
+<P><STRONG><a name="[6a]"></a>setupInputModule</STRONG> (Thumb, 84 bytes, Stack size 16 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = setupInputModule &rArr; setupPositionTracker &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreate
+<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPositionTracker
+<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPinListeners
+<LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+<LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[6f]"></a>setupActuatorModule</STRONG> (Thumb, 102 bytes, Stack size 24 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 208<LI>Call Chain = setupActuatorModule &rArr; setupMotor &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupMotor
+<LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ARRPreloadConfig
+<LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Cmd
+<LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_TimeBaseStructInit
+<LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_TimeBaseInit
+<LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_DeInit
+<LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB1PeriphClockCmd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[76]"></a>getCarPosition</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = getCarPosition
+</UL>
+<BR>[Calls]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getPosition
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getCurrentFloor
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[78]"></a>setCarTargetPosition</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = setCarTargetPosition &rArr; setTargetPosition &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTargetPosition
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;floorToVisit
+</UL>
+
+<P><STRONG><a name="[7a]"></a>setCarMotorStopped</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = setCarMotorStopped &rArr; setMotorStopped &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setMotorStopped
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;check
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;floorToVisit
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[35]"></a>main</STRONG> (Thumb, 48 bytes, Stack size 8 bytes, main.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 216<LI>Call Chain = main &rArr; setupActuatorModule &rArr; setupMotor &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
+<LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupSafety
+<LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPlanner
+<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+<LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupInputModule
+<LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+<LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
+</UL>
+<P><STRONG><a name="[7c]"></a>prvSetupHardware</STRONG> (Thumb, 152 bytes, Stack size 8 bytes, setup.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = prvSetupHardware &rArr; xSerialPortInitMinimal &rArr; xQueueCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_CLKSourceConfig
+<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_GetFlagStatus
+<LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB1PeriphClockCmd
+<LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphClockCmd
+<LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_PCLK2Config
+<LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_PCLK1Config
+<LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_HCLKConfig
+<LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_GetSYSCLKSource
+<LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_SYSCLKConfig
+<LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_PLLCmd
+<LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_PLLConfig
+<LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_HSEConfig
+<LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_DeInit
+<LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_SetVectorTable
+<LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_PriorityGroupConfig
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[3d]"></a>fputc</STRONG> (Thumb, 24 bytes, Stack size 16 bytes, setup.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = fputc &rArr; xSerialPutChar &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPutChar
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> printf3.o(i.__0printf$3)
+</UL>
+<P><STRONG><a name="[6d]"></a>setupPinListeners</STRONG> (Thumb, 46 bytes, Stack size 32 bytes, pin_listener.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = setupPinListeners &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+<LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+</UL>
+<BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupInputModule
+</UL>
+
+<P><STRONG><a name="[6e]"></a>setupPositionTracker</STRONG> (Thumb, 92 bytes, Stack size 48 bytes, position_tracker.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = setupPositionTracker &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+<LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+</UL>
+<BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupInputModule
+</UL>
+
+<P><STRONG><a name="[99]"></a>setDirection</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, position_tracker.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = setDirection &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+<BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+</UL>
+
+<P><STRONG><a name="[77]"></a>getPosition</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, position_tracker.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getCarPosition
+</UL>
+
+<P><STRONG><a name="[75]"></a>setupMotor</STRONG> (Thumb, 156 bytes, Stack size 64 bytes, motor.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = setupMotor &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+<LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_OCStructInit
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_OCInit
+</UL>
+<BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupActuatorModule
+</UL>
+
+<P><STRONG><a name="[79]"></a>setTargetPosition</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, motor.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = setTargetPosition &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+<BR>[Called By]<UL><LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCarTargetPosition
+</UL>
+
+<P><STRONG><a name="[7b]"></a>setMotorStopped</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, motor.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = setMotorStopped &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCarMotorStopped
+</UL>
+
+<P><STRONG><a name="[a4]"></a>floorToVisit</STRONG> (Thumb, 130 bytes, Stack size 8 bytes, planner.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = floorToVisit &rArr; setCarMotorStopped &rArr; setMotorStopped &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCarMotorStopped
+<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCarTargetPosition
+<LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[a5]"></a>getCurrentFloor</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, planner.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = getCurrentFloor &rArr; getCarPosition
+</UL>
+<BR>[Calls]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getCarPosition
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[7d]"></a>setupPlanner</STRONG> (Thumb, 28 bytes, Stack size 24 bytes, planner.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = setupPlanner &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[7e]"></a>setupSafety</STRONG> (Thumb, 30 bytes, Stack size 32 bytes, safety.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = setupSafety &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[af]"></a>pvPortMalloc</STRONG> (Thumb, 194 bytes, Stack size 24 bytes, heap_2.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAllocateTCBAndStack
+<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
+<LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreate
+</UL>
+
+<P><STRONG><a name="[b2]"></a>vPortFree</STRONG> (Thumb, 56 bytes, Stack size 16 bytes, heap_2.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = vPortFree &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
+<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAllocateTCBAndStack
+<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueDelete
+<LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreate
+</UL>
+
+<P><STRONG><a name="[184]"></a>xPortGetFreeHeapSize</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, heap_2.o(.text), UNUSED)
+
+<P><STRONG><a name="[185]"></a>vPortInitialiseBlocks</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heap_2.o(.text), UNUSED)
+
+<P><STRONG><a name="[bb]"></a>vListInitialise</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, list.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
+<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
+<LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreate
+</UL>
+
+<P><STRONG><a name="[d2]"></a>vListInitialiseItem</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, list.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTCBVariables
+</UL>
+
+<P><STRONG><a name="[d6]"></a>vListInsertEnd</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, list.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeFromISR
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskResume
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspend
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPrioritySet
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityInherit
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityDisinherit
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
+<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskIncrementTick
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+
+<P><STRONG><a name="[d9]"></a>vListInsert</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, list.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = vListInsert
+</UL>
+<BR>[Called By]<UL><LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
+<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+</UL>
+
+<P><STRONG><a name="[d8]"></a>vListRemove</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, list.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeFromISR
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskResume
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspend
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPrioritySet
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
+<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityInherit
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityDisinherit
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
+<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskIncrementTick
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+</UL>
+
+<P><STRONG><a name="[d5]"></a>pxPortInitialiseStack</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, port.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+
+<P><STRONG><a name="[b3]"></a>xPortStartScheduler</STRONG> (Thumb, 42 bytes, Stack size 8 bytes, port.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = xPortStartScheduler
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortStartFirstTask
+<LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupTimerInterrupt
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
+</UL>
+
+<P><STRONG><a name="[e3]"></a>vPortEndScheduler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, port.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskEndScheduler
+</UL>
+
+<P><STRONG><a name="[c3]"></a>vPortYieldFromISR</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, port.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskResume
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspend
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPrioritySet
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
+<LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIdleTask
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+<LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[b6]"></a>vPortEnterCritical</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, port.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = vPortEnterCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetInterruptMask
+</UL>
+<BR>[Called By]<UL><LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskResume
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspend
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPrioritySet
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxTaskPriorityGet
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
+<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
+<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxQueueMessagesWaiting
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[b8]"></a>vPortExitCritical</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, port.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = vPortExitCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortClearInterruptMask
+</UL>
+<BR>[Called By]<UL><LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskResume
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspend
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPrioritySet
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxTaskPriorityGet
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
+<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
+<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxQueueMessagesWaiting
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[9]"></a>xPortSysTickHandler</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, port.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xPortSysTickHandler &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskIncrementTick
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortClearInterruptMask
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetInterruptMask
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[6b]"></a>xQueueCreate</STRONG> (Thumb, 108 bytes, Stack size 24 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = xQueueCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPortInitMinimal
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupInputModule
+</UL>
+
+<P><STRONG><a name="[92]"></a>xQueueGenericSend</STRONG> (Thumb, 206 bytes, Stack size 48 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSetTimeOutState
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setDirection
+<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;positionTrackerTask
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPin
+<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPutChar
+<LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTargetPosition
+<LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setMotorStopped
+</UL>
+
+<P><STRONG><a name="[98]"></a>xQueueCreateMutex</STRONG> (Thumb, 70 bytes, Stack size 8 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = xQueueCreateMutex &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
+<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+<BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPositionTracker
+<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupMotor
+</UL>
+
+<P><STRONG><a name="[c7]"></a>xQueueGenericSendFromISR</STRONG> (Thumb, 86 bytes, Stack size 32 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = xQueueGenericSendFromISR &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortClearInterruptMask
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetInterruptMask
+</UL>
+<BR>[Called By]<UL><LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[97]"></a>xQueueGenericReceive</STRONG> (Thumb, 272 bytes, Stack size 48 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = xQueueGenericReceive &rArr; xTaskCheckForTimeOut &rArr; vPortExitCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetCurrentTaskHandle
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSetTimeOutState
+<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityInherit
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
+<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialGetChar
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+<LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setDirection
+<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;positionTrackerTask
+<LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTargetPosition
+<LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setMotorStopped
+</UL>
+
+<P><STRONG><a name="[cc]"></a>xQueueReceiveFromISR</STRONG> (Thumb, 84 bytes, Stack size 24 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = xQueueReceiveFromISR &rArr; xTaskRemoveFromEventList
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortClearInterruptMask
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetInterruptMask
+</UL>
+<BR>[Called By]<UL><LI><a href="#[2f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vUARTInterruptHandler
+</UL>
+
+<P><STRONG><a name="[cd]"></a>uxQueueMessagesWaiting</STRONG> (Thumb, 18 bytes, Stack size 16 bytes, queue.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+
+<P><STRONG><a name="[186]"></a>uxQueueMessagesWaitingFromISR</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, queue.o(.text), UNUSED)
+
+<P><STRONG><a name="[ce]"></a>vQueueDelete</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, queue.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+</UL>
+
+<P><STRONG><a name="[187]"></a>xQueueIsQueueEmptyFromISR</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, queue.o(.text), UNUSED)
+
+<P><STRONG><a name="[188]"></a>xQueueIsQueueFullFromISR</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, queue.o(.text), UNUSED)
+
+<P><STRONG><a name="[96]"></a>xTaskGenericCreate</STRONG> (Thumb, 240 bytes, Stack size 56 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAllocateTCBAndStack
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTCBVariables
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pxPortInitialiseStack
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
+<LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupSafety
+<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPositionTracker
+<LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPlanner
+<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupPinListeners
+<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setupMotor
+</UL>
+
+<P><STRONG><a name="[d7]"></a>vTaskDelete</STRONG> (Thumb, 94 bytes, Stack size 16 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+
+<P><STRONG><a name="[ba]"></a>vTaskIncrementTick</STRONG> (Thumb, 160 bytes, Stack size 8 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortSysTickHandler
+</UL>
+
+<P><STRONG><a name="[b1]"></a>xTaskResumeAll</STRONG> (Thumb, 186 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskIncrementTick
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+</UL>
+
+<P><STRONG><a name="[b0]"></a>vTaskSuspendAll</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+</UL>
+
+<P><STRONG><a name="[95]"></a>vTaskDelayUntil</STRONG> (Thumb, 228 bytes, Stack size 24 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = vTaskDelayUntil &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+<LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;check
+<LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;positionTrackerTask
+<LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPinsTask
+</UL>
+
+<P><STRONG><a name="[a8]"></a>vTaskDelay</STRONG> (Thumb, 86 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = vTaskDelay &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[da]"></a>uxTaskPriorityGet</STRONG> (Thumb, 30 bytes, Stack size 16 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+
+<P><STRONG><a name="[db]"></a>vTaskPrioritySet</STRONG> (Thumb, 160 bytes, Stack size 24 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+
+<P><STRONG><a name="[40]"></a>vTaskSwitchContext</STRONG> (Thumb, 92 bytes, Stack size 0 bytes, tasks.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspend
+<LI><a href="#[8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortPendSVHandler
+</UL>
+
+<P><STRONG><a name="[dc]"></a>vTaskSuspend</STRONG> (Thumb, 96 bytes, Stack size 16 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSwitchContext
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+
+<P><STRONG><a name="[de]"></a>xTaskIsTaskSuspended</STRONG> (Thumb, 60 bytes, Stack size 8 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeFromISR
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskResume
+</UL>
+
+<P><STRONG><a name="[dd]"></a>vTaskResume</STRONG> (Thumb, 92 bytes, Stack size 16 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIsTaskSuspended
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+
+<P><STRONG><a name="[df]"></a>xTaskResumeFromISR</STRONG> (Thumb, 100 bytes, Stack size 16 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIsTaskSuspended
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+
+<P><STRONG><a name="[7f]"></a>vTaskStartScheduler</STRONG> (Thumb, 52 bytes, Stack size 24 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = vTaskStartScheduler &rArr; xTaskGenericCreate &rArr; prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetInterruptMask
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[e2]"></a>vTaskEndScheduler</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, tasks.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEndScheduler
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetInterruptMask
+</UL>
+
+<P><STRONG><a name="[94]"></a>xTaskGetTickCount</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xTaskGetTickCount &rArr; vPortExitCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+<LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;positionTrackerTask
+<LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPinsTask
+</UL>
+
+<P><STRONG><a name="[189]"></a>xTaskGetTickCountFromISR</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, tasks.o(.text), UNUSED)
+
+<P><STRONG><a name="[18a]"></a>uxTaskGetNumberOfTasks</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, tasks.o(.text), UNUSED)
+
+<P><STRONG><a name="[c6]"></a>vTaskPlaceOnEventList</STRONG> (Thumb, 170 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = vTaskPlaceOnEventList &rArr; vListInsert
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[bd]"></a>xTaskRemoveFromEventList</STRONG> (Thumb, 106 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xTaskRemoveFromEventList
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
+<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[c4]"></a>vTaskSetTimeOutState</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, tasks.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[c5]"></a>xTaskCheckForTimeOut</STRONG> (Thumb, 92 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = xTaskCheckForTimeOut &rArr; vPortExitCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSetTimeOutState
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[be]"></a>vTaskMissedYield</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, tasks.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
+</UL>
+
+<P><STRONG><a name="[ca]"></a>xTaskGetCurrentTaskHandle</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, tasks.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+</UL>
+
+<P><STRONG><a name="[cb]"></a>vTaskPriorityInherit</STRONG> (Thumb, 108 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = vTaskPriorityInherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+</UL>
+
+<P><STRONG><a name="[c1]"></a>vTaskPriorityDisinherit</STRONG> (Thumb, 70 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+</UL>
+
+<P><STRONG><a name="[8e]"></a>xSerialPortInitMinimal</STRONG> (Thumb, 226 bytes, Stack size 48 bytes, serial.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = xSerialPortInitMinimal &rArr; xQueueCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreate
+<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ITConfig
+<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Cmd
+<LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Init
+<LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphClockCmd
+<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_Init
+<LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSetupHardware
+</UL>
+
+<P><STRONG><a name="[e7]"></a>xSerialGetChar</STRONG> (Thumb, 32 bytes, Stack size 16 bytes, serial.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+</UL>
+
+<P><STRONG><a name="[8f]"></a>xSerialPutChar</STRONG> (Thumb, 46 bytes, Stack size 32 bytes, serial.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = xSerialPutChar &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ITConfig
+</UL>
+<BR>[Called By]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vSerialPutString
+<LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;fputc
+</UL>
+
+<P><STRONG><a name="[e8]"></a>vSerialPutString</STRONG> (Thumb, 38 bytes, Stack size 24 bytes, serial.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xSerialPutChar
+</UL>
+
+<P><STRONG><a name="[18b]"></a>vSerialClose</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, serial.o(.text), UNUSED)
+
+<P><STRONG><a name="[2f]"></a>vUARTInterruptHandler</STRONG> (Thumb, 108 bytes, Stack size 16 bytes, serial.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = vUARTInterruptHandler &rArr; xQueueGenericSendFromISR &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
+<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_GetITStatus
+<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ReceiveData
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_SendData
+<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ITConfig
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> stm32f10x.o(RESET)
+</UL>
+<P><STRONG><a name="[c2]"></a>__aeabi_memcpy</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+</UL>
+
+<P><STRONG><a name="[93]"></a>__aeabi_memcpy4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPinsTask
+</UL>
+
+<P><STRONG><a name="[18c]"></a>__aeabi_memcpy8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)
+
+<P><STRONG><a name="[d4]"></a>__aeabi_memset</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAllocateTCBAndStack
+<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_memset$wrapper
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
+</UL>
+
+<P><STRONG><a name="[18d]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+
+<P><STRONG><a name="[18e]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+
+<P><STRONG><a name="[ec]"></a>__aeabi_memclr</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
+</UL>
+
+<P><STRONG><a name="[18f]"></a>__aeabi_memclr4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+
+<P><STRONG><a name="[190]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+
+<P><STRONG><a name="[ed]"></a>_memset$wrapper</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
+</UL>
+
+<P><STRONG><a name="[d1]"></a>strncpy</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, strncpy.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = strncpy
+</UL>
+<BR>[Called By]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTCBVariables
+</UL>
+
+<P><STRONG><a name="[ee]"></a>__aeabi_dadd</STRONG> (Thumb, 322 bytes, Stack size 48 bytes, dadd.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
+</UL>
+<BR>[Calls]<UL><LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_lasr
+<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
+<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+</UL>
+<BR>[Called By]<UL><LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
+<LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
+</UL>
+
+<P><STRONG><a name="[ad]"></a>__aeabi_dsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = __aeabi_dsub &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+</UL>
+
+<P><STRONG><a name="[f3]"></a>__aeabi_drsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+</UL>
+
+<P><STRONG><a name="[ac]"></a>__aeabi_ddiv</STRONG> (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = __aeabi_ddiv &rArr; _double_round
+</UL>
+<BR>[Calls]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+</UL>
+
+<P><STRONG><a name="[aa]"></a>__aeabi_ui2f</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, ffltui.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = __aeabi_ui2f &rArr; _float_epilogue
+</UL>
+<BR>[Calls]<UL><LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_float_epilogue
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+</UL>
+
+<P><STRONG><a name="[a6]"></a>__aeabi_i2d</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, dflti.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = __aeabi_i2d &rArr; _double_epilogue &rArr; _double_round
+</UL>
+<BR>[Calls]<UL><LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[ae]"></a>__aeabi_d2iz</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, dfixi.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __aeabi_d2iz
+</UL>
+<BR>[Calls]<UL><LI><a href="#[f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+</UL>
+
+<P><STRONG><a name="[ab]"></a>__aeabi_f2d</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+</UL>
+
+<P><STRONG><a name="[191]"></a>__aeabi_cdcmpeq</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, cdcmple.o(.text), UNUSED)
+
+<P><STRONG><a name="[a7]"></a>__aeabi_cdcmple</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, cdcmple.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+</UL>
+
+<P><STRONG><a name="[192]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
+
+<P><STRONG><a name="[f9]"></a>__aeabi_uidivmod</STRONG> (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+</UL>
+
+<P><STRONG><a name="[ef]"></a>__aeabi_llsl</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+</UL>
+
+<P><STRONG><a name="[193]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)
+
+<P><STRONG><a name="[f5]"></a>__aeabi_llsr</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
+<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+</UL>
+
+<P><STRONG><a name="[194]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)
+
+<P><STRONG><a name="[f0]"></a>__aeabi_lasr</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+</UL>
+
+<P><STRONG><a name="[195]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
+
+<P><STRONG><a name="[196]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)
+
+<P><STRONG><a name="[197]"></a>_float_round</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED)
+
+<P><STRONG><a name="[f4]"></a>_float_epilogue</STRONG> (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = _float_epilogue
+</UL>
+<BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2f
+</UL>
+
+<P><STRONG><a name="[f2]"></a>_double_round</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, depilogue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = _double_round
+</UL>
+<BR>[Called By]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
+<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+</UL>
+
+<P><STRONG><a name="[f1]"></a>_double_epilogue</STRONG> (Thumb, 156 bytes, Stack size 32 bytes, depilogue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = _double_epilogue &rArr; _double_round
+</UL>
+<BR>[Calls]<UL><LI><a href="#[f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
+<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+</UL>
+
+<P><STRONG><a name="[3f]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
+</UL>
+
+<P><STRONG><a name="[198]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
+
+<P><STRONG><a name="[f7]"></a>__0printf$3</STRONG> (Thumb, 22 bytes, Stack size 24 bytes, printf3.o(i.__0printf$3), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+</UL>
+
+<P><STRONG><a name="[199]"></a>__1printf$3</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printf3.o(i.__0printf$3), UNUSED)
+
+<P><STRONG><a name="[69]"></a>__2printf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printf3.o(i.__0printf$3))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = __2printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;check
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;floorToVisit
+<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;plannerTask
+<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;positionTrackerTask
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+</UL>
+
+<P><STRONG><a name="[19a]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
+
+<P><STRONG><a name="[19b]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
+
+<P><STRONG><a name="[19c]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
+<P>
+<H3>
+Local Symbols
+</H3>
+<P><STRONG><a name="[56]"></a>TI1_Config</STRONG> (Thumb, 56 bytes, Stack size 20 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_TIxExternalClockConfig
+<LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PWMI_Config
+</UL>
+
+<P><STRONG><a name="[58]"></a>TI2_Config</STRONG> (Thumb, 80 bytes, Stack size 20 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_TIxExternalClockConfig
+<LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PWMI_Config
+</UL>
+
+<P><STRONG><a name="[55]"></a>PWMI_Config</STRONG> (Thumb, 124 bytes, Stack size 24 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetIC2Prescaler
+<LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetIC1Prescaler
+<LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI2_Config
+<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TI1_Config
+</UL>
+<BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+</UL>
+
+<P><STRONG><a name="[5d]"></a>TI4_Config</STRONG> (Thumb, 82 bytes, Stack size 20 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+</UL>
+
+<P><STRONG><a name="[5b]"></a>TI3_Config</STRONG> (Thumb, 66 bytes, Stack size 20 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ICInit
+</UL>
+
+<P><STRONG><a name="[63]"></a>ETR_Config</STRONG> (Thumb, 26 bytes, Stack size 12 bytes, stm32f10x_tim.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ETRClockMode2Config
+<LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ETRClockMode1Config
+</UL>
+
+<P><STRONG><a name="[90]"></a>pollPin</STRONG> (Thumb, 80 bytes, Stack size 16 bytes, pin_listener.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = pollPin &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_ReadInputDataBit
+</UL>
+<BR>[Called By]<UL><LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPinsTask
+</UL>
+
+<P><STRONG><a name="[37]"></a>pollPinsTask</STRONG> (Thumb, 60 bytes, Stack size 24 bytes, pin_listener.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = pollPinsTask &rArr; pollPin &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pollPin
+<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> pin_listener.o(.text)
+</UL>
+<P><STRONG><a name="[38]"></a>positionTrackerTask</STRONG> (Thumb, 114 bytes, Stack size 8 bytes, position_tracker.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = positionTrackerTask &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_ReadInputDataBit
+<LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> position_tracker.o(.text)
+</UL>
+<P><STRONG><a name="[a0]"></a>maxDutyAtDistance</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, motor.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+</UL>
+
+<P><STRONG><a name="[a1]"></a>min</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, motor.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+</UL>
+
+<P><STRONG><a name="[9a]"></a>setCompare</STRONG> (Thumb, 78 bytes, Stack size 16 bytes, motor.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = setCompare &rArr; assert_failed &rArr; __2printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;assert_failed
+<LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetCompare4
+<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetCompare3
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetCompare2
+<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_SetCompare1
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setDuty
+</UL>
+
+<P><STRONG><a name="[9f]"></a>setDuty</STRONG> (Thumb, 56 bytes, Stack size 16 bytes, motor.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = setDuty &rArr; setCompare &rArr; assert_failed &rArr; __2printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCompare
+</UL>
+<BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;motorTask
+</UL>
+
+<P><STRONG><a name="[39]"></a>motorTask</STRONG> (Thumb, 222 bytes, Stack size 8 bytes, motor.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = motorTask &rArr; setDirection &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setDuty
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;min
+<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;maxDutyAtDistance
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setDirection
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+<LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getPosition
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> motor.o(.text)
+</UL>
+<P><STRONG><a name="[3a]"></a>plannerTask</STRONG> (Thumb, 358 bytes, Stack size 16 bytes, planner.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = plannerTask &rArr; floorToVisit &rArr; setCarMotorStopped &rArr; setMotorStopped &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
+<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
+<LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_cdcmple
+<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getCurrentFloor
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;floorToVisit
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCarMotorStopped
+<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getCarPosition
+<LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> planner.o(.text)
+</UL>
+<P><STRONG><a name="[a9]"></a>check</STRONG> (Thumb, 36 bytes, Stack size 16 bytes, safety.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = check &rArr; setCarMotorStopped &rArr; setMotorStopped &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setCarMotorStopped
+<LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;safetyTask
+</UL>
+
+<P><STRONG><a name="[3b]"></a>safetyTask</STRONG> (Thumb, 1198 bytes, Stack size 64 bytes, safety.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = safetyTask &rArr; check &rArr; setCarMotorStopped &rArr; setMotorStopped &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2f
+<LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
+<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
+<LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
+<LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
+<LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;check
+<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
+<LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_cdcmple
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
+<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;getCarPosition
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_ReadInputDataBit
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> safety.o(.text)
+</UL>
+<P><STRONG><a name="[b4]"></a>prvSetupTimerInterrupt</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, port.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
+</UL>
+
+<P><STRONG><a name="[bc]"></a>prvUnlockQueue</STRONG> (Thumb, 110 bytes, Stack size 8 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = prvUnlockQueue &rArr; xTaskRemoveFromEventList
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskMissedYield
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[bf]"></a>prvIsQueueFull</STRONG> (Thumb, 32 bytes, Stack size 16 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = prvIsQueueFull &rArr; vPortExitCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+<BR>[Called By]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[c0]"></a>prvCopyDataToQueue</STRONG> (Thumb, 104 bytes, Stack size 16 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = prvCopyDataToQueue &rArr; vTaskPriorityDisinherit
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityDisinherit
+<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy
+</UL>
+<BR>[Called By]<UL><LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
+</UL>
+
+<P><STRONG><a name="[c8]"></a>prvIsQueueEmpty</STRONG> (Thumb, 28 bytes, Stack size 16 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = prvIsQueueEmpty &rArr; vPortExitCritical
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+</UL>
+<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+</UL>
+
+<P><STRONG><a name="[c9]"></a>prvCopyDataFromQueue</STRONG> (Thumb, 42 bytes, Stack size 16 bytes, queue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = prvCopyDataFromQueue
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy
+</UL>
+<BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReceive
+</UL>
+
+<P><STRONG><a name="[cf]"></a>prvInitialiseTaskLists</STRONG> (Thumb, 70 bytes, Stack size 8 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = prvInitialiseTaskLists
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
+</UL>
+<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+
+<P><STRONG><a name="[d0]"></a>prvInitialiseTCBVariables</STRONG> (Thumb, 70 bytes, Stack size 24 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = prvInitialiseTCBVariables &rArr; strncpy
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialiseItem
+<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;strncpy
+</UL>
+<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+
+<P><STRONG><a name="[d3]"></a>prvAllocateTCBAndStack</STRONG> (Thumb, 58 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = prvAllocateTCBAndStack &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
+</UL>
+<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericCreate
+</UL>
+
+<P><STRONG><a name="[e0]"></a>prvDeleteTCB</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+</UL>
+<BR>[Called By]<UL><LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+</UL>
+
+<P><STRONG><a name="[e1]"></a>prvCheckTasksWaitingTermination</STRONG> (Thumb, 94 bytes, Stack size 16 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListRemove
+<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIdleTask
+</UL>
+
+<P><STRONG><a name="[3c]"></a>prvIdleTask</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, tasks.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = prvIdleTask &rArr; prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; vTaskIncrementTick
+</UL>
+<BR>[Calls]<UL><LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortYieldFromISR
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> tasks.o(.text)
+</UL>
+<P><STRONG><a name="[f8]"></a>_printf_core</STRONG> (Thumb, 436 bytes, Stack size 96 bytes, printf3.o(i._printf_core), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uidivmod
+</UL>
+<BR>[Called By]<UL><LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__0printf$3
+</UL>
+<P>
+<H3>
+Undefined Global Symbols
+</H3><HR></body></html>
diff --git a/stm32_exec.lnp b/stm32_exec.lnp
new file mode 100644
index 0000000..1154b4d
--- /dev/null
+++ b/stm32_exec.lnp
@@ -0,0 +1,28 @@
+--cpu Cortex-M3
+".\stm32f10x.o"
+".\stm32f10x_gpio.o"
+".\stm32f10x_lib.o"
+".\stm32f10x_nvic.o"
+".\stm32f10x_rcc.o"
+".\stm32f10x_spi.o"
+".\stm32f10x_systick.o"
+".\stm32f10x_tim.o"
+".\stm32f10x_usart.o"
+".\cortexm3_macro_rvds.o"
+".\main.o"
+".\setup.o"
+".\pin_listener.o"
+".\position_tracker.o"
+".\motor.o"
+".\planner.o"
+".\safety.o"
+".\heap_2.o"
+".\list.o"
+".\port.o"
+".\queue.o"
+".\tasks.o"
+".\serial.o"
+--library_type=microlib --strict --scatter ".\stm32_exec.sct"
+--summary_stderr --info summarysizes --map --xref --callgraph --symbols
+--info sizes --info totals --info unused --info veneers
+--list ".\stm32_exec.map" -o .\stm32_exec.axf
\ No newline at end of file
diff --git a/stm32_exec.map b/stm32_exec.map
new file mode 100644
index 0000000..5fa67c2
--- /dev/null
+++ b/stm32_exec.map
@@ -0,0 +1,1256 @@
+Component: ARM Compiler 5.05 update 1 (build 106) Tool: armlink [4d0efa]
+
+==============================================================================
+
+Section Cross References
+
+    stm32f10x.o(RESET) refers to stm32f10x.o(STACK) for __initial_sp
+    stm32f10x.o(RESET) refers to stm32f10x.o(.text) for Reset_Handler
+    stm32f10x.o(RESET) refers to port.o(.emb_text) for vPortSVCHandler
+    stm32f10x.o(RESET) refers to port.o(.text) for xPortSysTickHandler
+    stm32f10x.o(RESET) refers to serial.o(.text) for vUARTInterruptHandler
+    stm32f10x.o(.text) refers to entry.o(.ARM.Collect$$$$00000000) for __main
+    stm32f10x_gpio.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd
+    stm32f10x_nvic.o(.text) refers to cortexm3_macro_rvds.o(.text) for __SETPRIMASK
+    stm32f10x_rcc.o(.text) refers to stm32f10x_rcc.o(.constdata) for APBAHBPrescTable
+    stm32f10x_spi.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd
+    stm32f10x_tim.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd
+    stm32f10x_tim.o(.text) refers to stm32f10x_tim.o(.constdata) for Tab_OCModeMask
+    stm32f10x_usart.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd
+    main.o(.text) refers to printf3.o(i.__0printf$3) for __2printf
+    main.o(.text) refers to queue.o(.text) for xQueueCreate
+    main.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init
+    main.o(.text) refers to pin_listener.o(.text) for setupPinListeners
+    main.o(.text) refers to position_tracker.o(.text) for setupPositionTracker
+    main.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphClockCmd
+    main.o(.text) refers to stm32f10x_tim.o(.text) for TIM_DeInit
+    main.o(.text) refers to motor.o(.text) for setupMotor
+    main.o(.text) refers to setup.o(.text) for prvSetupHardware
+    main.o(.text) refers to planner.o(.text) for setupPlanner
+    main.o(.text) refers to safety.o(.text) for setupSafety
+    main.o(.text) refers to tasks.o(.text) for vTaskStartScheduler
+    main.o(.text) refers to main.o(.data) for pinEventQueue
+    main.o(.text) refers to main.o(.bss) for carPositionTracker
+    setup.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_DeInit
+    setup.o(.text) refers to stm32f10x_nvic.o(.text) for NVIC_SetVectorTable
+    setup.o(.text) refers to stm32f10x_systick.o(.text) for SysTick_CLKSourceConfig
+    setup.o(.text) refers to serial.o(.text) for xSerialPortInitMinimal
+    setup.o(.text) refers to setup.o(.data) for xPort
+    pin_listener.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_ReadInputDataBit
+    pin_listener.o(.text) refers to queue.o(.text) for xQueueGenericSend
+    pin_listener.o(.text) refers to memcpya.o(.text) for __aeabi_memcpy4
+    pin_listener.o(.text) refers to tasks.o(.text) for xTaskGetTickCount
+    pin_listener.o(.text) refers to main.o(.text) for assert_failed
+    pin_listener.o(.text) refers to pin_listener.o(.data) for counter_GPIO_Pin
+    position_tracker.o(.text) refers to tasks.o(.text) for xTaskGetTickCount
+    position_tracker.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_ReadInputDataBit
+    position_tracker.o(.text) refers to queue.o(.text) for xQueueGenericReceive
+    position_tracker.o(.text) refers to printf3.o(i.__0printf$3) for __2printf
+    position_tracker.o(.text) refers to main.o(.text) for assert_failed
+    motor.o(.text) refers to stm32f10x_tim.o(.text) for TIM_SetCompare1
+    motor.o(.text) refers to main.o(.text) for assert_failed
+    motor.o(.text) refers to tasks.o(.text) for xTaskGetTickCount
+    motor.o(.text) refers to queue.o(.text) for xQueueGenericReceive
+    motor.o(.text) refers to position_tracker.o(.text) for getPosition
+    planner.o(.text) refers to main.o(.text) for setCarTargetPosition
+    planner.o(.text) refers to printf3.o(i.__0printf$3) for __2printf
+    planner.o(.text) refers to tasks.o(.text) for xTaskGetTickCount
+    planner.o(.text) refers to queue.o(.text) for xQueueGenericReceive
+    planner.o(.text) refers to dflti.o(.text) for __aeabi_i2d
+    planner.o(.text) refers to cdcmple.o(.text) for __aeabi_cdcmple
+    planner.o(.text) refers to planner.o(.data) for floorFlags
+    planner.o(.text) refers to main.o(.data) for pinEventQueue
+    safety.o(.text) refers to printf3.o(i.__0printf$3) for __2printf
+    safety.o(.text) refers to main.o(.text) for setCarMotorStopped
+    safety.o(.text) refers to tasks.o(.text) for vTaskDelayUntil
+    safety.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_ReadInputDataBit
+    safety.o(.text) refers to ffltui.o(.text) for __aeabi_ui2f
+    safety.o(.text) refers to f2d.o(.text) for __aeabi_f2d
+    safety.o(.text) refers to ddiv.o(.text) for __aeabi_ddiv
+    safety.o(.text) refers to cdcmple.o(.text) for __aeabi_cdcmple
+    safety.o(.text) refers to dflti.o(.text) for __aeabi_i2d
+    safety.o(.text) refers to dadd.o(.text) for __aeabi_dsub
+    safety.o(.text) refers to dfixi.o(.text) for __aeabi_d2iz
+    safety.o(.text) refers to safety.o(.data) for xLastWakeTime
+    heap_2.o(.text) refers to tasks.o(.text) for vTaskSuspendAll
+    heap_2.o(.text) refers to heap_2.o(.data) for xHeapHasBeenInitialised
+    heap_2.o(.text) refers to heap_2.o(.bss) for xHeap
+    port.o(.emb_text) refers to tasks.o(.text) for vTaskSwitchContext
+    port.o(.emb_text) refers to tasks.o(.data) for pxCurrentTCB
+    port.o(.text) refers to port.o(.emb_text) for vPortStartFirstTask
+    port.o(.text) refers to tasks.o(.text) for vTaskIncrementTick
+    port.o(.text) refers to port.o(.data) for uxCriticalNesting
+    queue.o(.text) refers to heap_2.o(.text) for pvPortMalloc
+    queue.o(.text) refers to list.o(.text) for vListInitialise
+    queue.o(.text) refers to port.o(.text) for vPortEnterCritical
+    queue.o(.text) refers to tasks.o(.text) for xTaskRemoveFromEventList
+    queue.o(.text) refers to memcpya.o(.text) for __aeabi_memcpy
+    queue.o(.text) refers to port.o(.emb_text) for vPortSetInterruptMask
+    tasks.o(.text) refers to list.o(.text) for vListInitialise
+    tasks.o(.text) refers to strncpy.o(.text) for strncpy
+    tasks.o(.text) refers to heap_2.o(.text) for pvPortMalloc
+    tasks.o(.text) refers to memseta.o(.text) for __aeabi_memset
+    tasks.o(.text) refers to port.o(.text) for pxPortInitialiseStack
+    tasks.o(.text) refers to tasks.o(.bss) for pxReadyTasksLists
+    tasks.o(.text) refers to tasks.o(.data) for pxDelayedTaskList
+    tasks.o(.text) refers to port.o(.emb_text) for vPortSetInterruptMask
+    serial.o(.text) refers to queue.o(.text) for xQueueCreate
+    serial.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd
+    serial.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init
+    serial.o(.text) refers to stm32f10x_usart.o(.text) for USART_Init
+    serial.o(.text) refers to stm32f10x_nvic.o(.text) for NVIC_Init
+    serial.o(.text) refers to port.o(.text) for vPortYieldFromISR
+    serial.o(.text) refers to serial.o(.data) for xRxedChars
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry10a.o(.ARM.Collect$$$$0000000D) for __rt_final_cpp
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry11a.o(.ARM.Collect$$$$0000000F) for __rt_final_exit
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry7b.o(.ARM.Collect$$$$00000008) for _main_clock
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry8b.o(.ARM.Collect$$$$0000000A) for _main_cpp_init
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry9a.o(.ARM.Collect$$$$0000000B) for _main_init
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry5.o(.ARM.Collect$$$$00000004) for _main_scatterload
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry2.o(.ARM.Collect$$$$00000001) for _main_stk
+    printfb.o(i.__0fprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0fprintf$bare) refers to setup.o(.text) for fputc
+    printfb.o(i.__0printf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0printf$bare) refers to setup.o(.text) for fputc
+    printfb.o(i.__0printf$bare) refers to stdout.o(.data) for __stdout
+    printfb.o(i.__0snprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0snprintf$bare) refers to printfb.o(i._snputc) for _snputc
+    printfb.o(i.__0sprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0sprintf$bare) refers to printfb.o(i._sputc) for _sputc
+    printfb.o(i.__0vfprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0vfprintf$bare) refers to setup.o(.text) for fputc
+    printfb.o(i.__0vprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0vprintf$bare) refers to setup.o(.text) for fputc
+    printfb.o(i.__0vprintf$bare) refers to stdout.o(.data) for __stdout
+    printfb.o(i.__0vsnprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0vsnprintf$bare) refers to printfb.o(i._snputc) for _snputc
+    printfb.o(i.__0vsprintf$bare) refers to printfb.o(i._printf_core) for _printf_core
+    printfb.o(i.__0vsprintf$bare) refers to printfb.o(i._sputc) for _sputc
+    printf0.o(i.__0fprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0fprintf$0) refers to setup.o(.text) for fputc
+    printf0.o(i.__0printf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0printf$0) refers to setup.o(.text) for fputc
+    printf0.o(i.__0printf$0) refers to stdout.o(.data) for __stdout
+    printf0.o(i.__0snprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0snprintf$0) refers to printf0.o(i._snputc) for _snputc
+    printf0.o(i.__0sprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0sprintf$0) refers to printf0.o(i._sputc) for _sputc
+    printf0.o(i.__0vfprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0vfprintf$0) refers to setup.o(.text) for fputc
+    printf0.o(i.__0vprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0vprintf$0) refers to setup.o(.text) for fputc
+    printf0.o(i.__0vprintf$0) refers to stdout.o(.data) for __stdout
+    printf0.o(i.__0vsnprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0vsnprintf$0) refers to printf0.o(i._snputc) for _snputc
+    printf0.o(i.__0vsprintf$0) refers to printf0.o(i._printf_core) for _printf_core
+    printf0.o(i.__0vsprintf$0) refers to printf0.o(i._sputc) for _sputc
+    printf1.o(i.__0fprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0fprintf$1) refers to setup.o(.text) for fputc
+    printf1.o(i.__0printf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0printf$1) refers to setup.o(.text) for fputc
+    printf1.o(i.__0printf$1) refers to stdout.o(.data) for __stdout
+    printf1.o(i.__0snprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0snprintf$1) refers to printf1.o(i._snputc) for _snputc
+    printf1.o(i.__0sprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0sprintf$1) refers to printf1.o(i._sputc) for _sputc
+    printf1.o(i.__0vfprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0vfprintf$1) refers to setup.o(.text) for fputc
+    printf1.o(i.__0vprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0vprintf$1) refers to setup.o(.text) for fputc
+    printf1.o(i.__0vprintf$1) refers to stdout.o(.data) for __stdout
+    printf1.o(i.__0vsnprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0vsnprintf$1) refers to printf1.o(i._snputc) for _snputc
+    printf1.o(i.__0vsprintf$1) refers to printf1.o(i._printf_core) for _printf_core
+    printf1.o(i.__0vsprintf$1) refers to printf1.o(i._sputc) for _sputc
+    printf1.o(i._printf_core) refers to uidiv.o(.text) for __aeabi_uidivmod
+    printf2.o(i.__0fprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0fprintf$2) refers to setup.o(.text) for fputc
+    printf2.o(i.__0printf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0printf$2) refers to setup.o(.text) for fputc
+    printf2.o(i.__0printf$2) refers to stdout.o(.data) for __stdout
+    printf2.o(i.__0snprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0snprintf$2) refers to printf2.o(i._snputc) for _snputc
+    printf2.o(i.__0sprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0sprintf$2) refers to printf2.o(i._sputc) for _sputc
+    printf2.o(i.__0vfprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0vfprintf$2) refers to setup.o(.text) for fputc
+    printf2.o(i.__0vprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0vprintf$2) refers to setup.o(.text) for fputc
+    printf2.o(i.__0vprintf$2) refers to stdout.o(.data) for __stdout
+    printf2.o(i.__0vsnprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0vsnprintf$2) refers to printf2.o(i._snputc) for _snputc
+    printf2.o(i.__0vsprintf$2) refers to printf2.o(i._printf_core) for _printf_core
+    printf2.o(i.__0vsprintf$2) refers to printf2.o(i._sputc) for _sputc
+    printf3.o(i.__0fprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0fprintf$3) refers to setup.o(.text) for fputc
+    printf3.o(i.__0printf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0printf$3) refers to setup.o(.text) for fputc
+    printf3.o(i.__0printf$3) refers to stdout.o(.data) for __stdout
+    printf3.o(i.__0snprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0snprintf$3) refers to printf3.o(i._snputc) for _snputc
+    printf3.o(i.__0sprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0sprintf$3) refers to printf3.o(i._sputc) for _sputc
+    printf3.o(i.__0vfprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0vfprintf$3) refers to setup.o(.text) for fputc
+    printf3.o(i.__0vprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0vprintf$3) refers to setup.o(.text) for fputc
+    printf3.o(i.__0vprintf$3) refers to stdout.o(.data) for __stdout
+    printf3.o(i.__0vsnprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0vsnprintf$3) refers to printf3.o(i._snputc) for _snputc
+    printf3.o(i.__0vsprintf$3) refers to printf3.o(i._printf_core) for _printf_core
+    printf3.o(i.__0vsprintf$3) refers to printf3.o(i._sputc) for _sputc
+    printf3.o(i._printf_core) refers to uidiv.o(.text) for __aeabi_uidivmod
+    printf4.o(i.__0fprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0fprintf$4) refers to setup.o(.text) for fputc
+    printf4.o(i.__0printf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0printf$4) refers to setup.o(.text) for fputc
+    printf4.o(i.__0printf$4) refers to stdout.o(.data) for __stdout
+    printf4.o(i.__0snprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0snprintf$4) refers to printf4.o(i._snputc) for _snputc
+    printf4.o(i.__0sprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0sprintf$4) refers to printf4.o(i._sputc) for _sputc
+    printf4.o(i.__0vfprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0vfprintf$4) refers to setup.o(.text) for fputc
+    printf4.o(i.__0vprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0vprintf$4) refers to setup.o(.text) for fputc
+    printf4.o(i.__0vprintf$4) refers to stdout.o(.data) for __stdout
+    printf4.o(i.__0vsnprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0vsnprintf$4) refers to printf4.o(i._snputc) for _snputc
+    printf4.o(i.__0vsprintf$4) refers to printf4.o(i._printf_core) for _printf_core
+    printf4.o(i.__0vsprintf$4) refers to printf4.o(i._sputc) for _sputc
+    printf4.o(i._printf_core) refers to uldiv.o(.text) for __aeabi_uldivmod
+    printf5.o(i.__0fprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0fprintf$5) refers to setup.o(.text) for fputc
+    printf5.o(i.__0printf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0printf$5) refers to setup.o(.text) for fputc
+    printf5.o(i.__0printf$5) refers to stdout.o(.data) for __stdout
+    printf5.o(i.__0snprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0snprintf$5) refers to printf5.o(i._snputc) for _snputc
+    printf5.o(i.__0sprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0sprintf$5) refers to printf5.o(i._sputc) for _sputc
+    printf5.o(i.__0vfprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0vfprintf$5) refers to setup.o(.text) for fputc
+    printf5.o(i.__0vprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0vprintf$5) refers to setup.o(.text) for fputc
+    printf5.o(i.__0vprintf$5) refers to stdout.o(.data) for __stdout
+    printf5.o(i.__0vsnprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0vsnprintf$5) refers to printf5.o(i._snputc) for _snputc
+    printf5.o(i.__0vsprintf$5) refers to printf5.o(i._printf_core) for _printf_core
+    printf5.o(i.__0vsprintf$5) refers to printf5.o(i._sputc) for _sputc
+    printf5.o(i._printf_core) refers to uldiv.o(.text) for __aeabi_uldivmod
+    printf6.o(i.__0fprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0fprintf$6) refers to setup.o(.text) for fputc
+    printf6.o(i.__0printf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0printf$6) refers to setup.o(.text) for fputc
+    printf6.o(i.__0printf$6) refers to stdout.o(.data) for __stdout
+    printf6.o(i.__0snprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0snprintf$6) refers to printf6.o(i._snputc) for _snputc
+    printf6.o(i.__0sprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0sprintf$6) refers to printf6.o(i._sputc) for _sputc
+    printf6.o(i.__0vfprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0vfprintf$6) refers to setup.o(.text) for fputc
+    printf6.o(i.__0vprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0vprintf$6) refers to setup.o(.text) for fputc
+    printf6.o(i.__0vprintf$6) refers to stdout.o(.data) for __stdout
+    printf6.o(i.__0vsnprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0vsnprintf$6) refers to printf6.o(i._snputc) for _snputc
+    printf6.o(i.__0vsprintf$6) refers to printf6.o(i._printf_core) for _printf_core
+    printf6.o(i.__0vsprintf$6) refers to printf6.o(i._sputc) for _sputc
+    printf6.o(i._printf_core) refers to printf6.o(i._printf_pre_padding) for _printf_pre_padding
+    printf6.o(i._printf_core) refers to uidiv.o(.text) for __aeabi_uidivmod
+    printf6.o(i._printf_core) refers to printf6.o(i._printf_post_padding) for _printf_post_padding
+    printf7.o(i.__0fprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0fprintf$7) refers to setup.o(.text) for fputc
+    printf7.o(i.__0printf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0printf$7) refers to setup.o(.text) for fputc
+    printf7.o(i.__0printf$7) refers to stdout.o(.data) for __stdout
+    printf7.o(i.__0snprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0snprintf$7) refers to printf7.o(i._snputc) for _snputc
+    printf7.o(i.__0sprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0sprintf$7) refers to printf7.o(i._sputc) for _sputc
+    printf7.o(i.__0vfprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0vfprintf$7) refers to setup.o(.text) for fputc
+    printf7.o(i.__0vprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0vprintf$7) refers to setup.o(.text) for fputc
+    printf7.o(i.__0vprintf$7) refers to stdout.o(.data) for __stdout
+    printf7.o(i.__0vsnprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0vsnprintf$7) refers to printf7.o(i._snputc) for _snputc
+    printf7.o(i.__0vsprintf$7) refers to printf7.o(i._printf_core) for _printf_core
+    printf7.o(i.__0vsprintf$7) refers to printf7.o(i._sputc) for _sputc
+    printf7.o(i._printf_core) refers to printf7.o(i._printf_pre_padding) for _printf_pre_padding
+    printf7.o(i._printf_core) refers to uldiv.o(.text) for __aeabi_uldivmod
+    printf7.o(i._printf_core) refers to printf7.o(i._printf_post_padding) for _printf_post_padding
+    printf8.o(i.__0fprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0fprintf$8) refers to setup.o(.text) for fputc
+    printf8.o(i.__0printf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0printf$8) refers to setup.o(.text) for fputc
+    printf8.o(i.__0printf$8) refers to stdout.o(.data) for __stdout
+    printf8.o(i.__0snprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0snprintf$8) refers to printf8.o(i._snputc) for _snputc
+    printf8.o(i.__0sprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0sprintf$8) refers to printf8.o(i._sputc) for _sputc
+    printf8.o(i.__0vfprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0vfprintf$8) refers to setup.o(.text) for fputc
+    printf8.o(i.__0vprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0vprintf$8) refers to setup.o(.text) for fputc
+    printf8.o(i.__0vprintf$8) refers to stdout.o(.data) for __stdout
+    printf8.o(i.__0vsnprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0vsnprintf$8) refers to printf8.o(i._snputc) for _snputc
+    printf8.o(i.__0vsprintf$8) refers to printf8.o(i._printf_core) for _printf_core
+    printf8.o(i.__0vsprintf$8) refers to printf8.o(i._sputc) for _sputc
+    printf8.o(i._printf_core) refers to printf8.o(i._printf_pre_padding) for _printf_pre_padding
+    printf8.o(i._printf_core) refers to uldiv.o(.text) for __aeabi_uldivmod
+    printf8.o(i._printf_core) refers to printf8.o(i._printf_post_padding) for _printf_post_padding
+    printfa.o(i.__0fprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0fprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0fprintf) refers to setup.o(.text) for fputc
+    printfa.o(i.__0printf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0printf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0printf) refers to setup.o(.text) for fputc
+    printfa.o(i.__0printf) refers to stdout.o(.data) for __stdout
+    printfa.o(i.__0snprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0snprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0snprintf) refers to printfa.o(i._snputc) for _snputc
+    printfa.o(i.__0sprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0sprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0sprintf) refers to printfa.o(i._sputc) for _sputc
+    printfa.o(i.__0vfprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0vfprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0vfprintf) refers to setup.o(.text) for fputc
+    printfa.o(i.__0vprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0vprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0vprintf) refers to setup.o(.text) for fputc
+    printfa.o(i.__0vprintf) refers to stdout.o(.data) for __stdout
+    printfa.o(i.__0vsnprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0vsnprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0vsnprintf) refers to printfa.o(i._snputc) for _snputc
+    printfa.o(i.__0vsprintf) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i.__0vsprintf) refers to printfa.o(i._printf_core) for _printf_core
+    printfa.o(i.__0vsprintf) refers to printfa.o(i._sputc) for _sputc
+    printfa.o(i._fp_digits) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i._fp_digits) refers to dmul.o(.text) for __aeabi_dmul
+    printfa.o(i._fp_digits) refers to ddiv.o(.text) for __aeabi_ddiv
+    printfa.o(i._fp_digits) refers to cdrcmple.o(.text) for __aeabi_cdrcmple
+    printfa.o(i._fp_digits) refers to dadd.o(.text) for __aeabi_dadd
+    printfa.o(i._fp_digits) refers to dfixul.o(.text) for __aeabi_d2ulz
+    printfa.o(i._fp_digits) refers to uldiv.o(.text) for __aeabi_uldivmod
+    printfa.o(i._printf_core) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i._printf_core) refers to printfa.o(i._printf_pre_padding) for _printf_pre_padding
+    printfa.o(i._printf_core) refers to uldiv.o(.text) for __aeabi_uldivmod
+    printfa.o(i._printf_core) refers to printfa.o(i._printf_post_padding) for _printf_post_padding
+    printfa.o(i._printf_core) refers to printfa.o(i._fp_digits) for _fp_digits
+    printfa.o(i._printf_core) refers to uidiv.o(.text) for __aeabi_uidivmod
+    printfa.o(i._printf_post_padding) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i._printf_pre_padding) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i._snputc) refers (Special) to iusefp.o(.text) for __I$use$fp
+    printfa.o(i._sputc) refers (Special) to iusefp.o(.text) for __I$use$fp
+    dadd.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    dadd.o(.text) refers to llshl.o(.text) for __aeabi_llsl
+    dadd.o(.text) refers to llsshr.o(.text) for __aeabi_lasr
+    dadd.o(.text) refers to depilogue.o(.text) for _double_epilogue
+    ddiv.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    ddiv.o(.text) refers to depilogue.o(.text) for _double_round
+    ffltui.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    ffltui.o(.text) refers to fepilogue.o(.text) for _float_epilogue
+    dflti.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    dflti.o(.text) refers to depilogue.o(.text) for _double_epilogue
+    dfixi.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    dfixi.o(.text) refers to llushr.o(.text) for __aeabi_llsr
+    f2d.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    cdcmple.o(.text) refers (Special) to iusefp.o(.text) for __I$use$fp
+    entry2.o(.ARM.Collect$$$$00000001) refers to entry2.o(.ARM.Collect$$$$00002712) for __lit__00000000
+    entry2.o(.ARM.Collect$$$$00002712) refers to stm32f10x.o(STACK) for __initial_sp
+    entry2.o(__vectab_stack_and_reset_area) refers to stm32f10x.o(STACK) for __initial_sp
+    entry2.o(__vectab_stack_and_reset_area) refers to entry.o(.ARM.Collect$$$$00000000) for __main
+    entry5.o(.ARM.Collect$$$$00000004) refers to init.o(.text) for __scatterload
+    entry9a.o(.ARM.Collect$$$$0000000B) refers to main.o(.text) for main
+    entry9b.o(.ARM.Collect$$$$0000000C) refers to main.o(.text) for main
+    uldiv.o(.text) refers to llushr.o(.text) for __aeabi_llsr
+    uldiv.o(.text) refers to llshl.o(.text) for __aeabi_llsl
+    depilogue.o(.text) refers to llshl.o(.text) for __aeabi_llsl
+    depilogue.o(.text) refers to llushr.o(.text) for __aeabi_llsr
+    dmul.o(.text) refers to depilogue.o(.text) for _double_epilogue
+    dfixul.o(.text) refers to llushr.o(.text) for __aeabi_llsr
+    dfixul.o(.text) refers to llshl.o(.text) for __aeabi_llsl
+    init.o(.text) refers to entry5.o(.ARM.Collect$$$$00000004) for __main_after_scatterload
+
+
+==============================================================================
+
+Removing Unused input sections from the image.
+
+    Removing stm32f10x.o(HEAP), (0 bytes).
+    Removing stm32f10x_spi.o(.text), (532 bytes).
+    Removing dmul.o(.text), (228 bytes).
+    Removing dfixul.o(.text), (48 bytes).
+    Removing cdrcmple.o(.text), (48 bytes).
+
+5 unused section(s) (total 856 bytes) removed from the image.
+
+==============================================================================
+
+Image Symbol Table
+
+    Local Symbols
+
+    Symbol Name                              Value     Ov Type        Size  Object(Section)
+
+    ../clib/microlib/division.c              0x00000000   Number         0  uldiv.o ABSOLUTE
+    ../clib/microlib/division.c              0x00000000   Number         0  uidiv.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry2.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry5.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8a.o ABSOLUTE
+    ../clib/microlib/longlong.c              0x00000000   Number         0  llshl.o ABSOLUTE
+    ../clib/microlib/longlong.c              0x00000000   Number         0  llsshr.o ABSOLUTE
+    ../clib/microlib/longlong.c              0x00000000   Number         0  llushr.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf0.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf1.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf2.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf3.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf4.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf5.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf6.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf7.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf8.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printfa.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printfb.o ABSOLUTE
+    ../clib/microlib/printf/stubs.s          0x00000000   Number         0  stubs.o ABSOLUTE
+    ../clib/microlib/stdio/streams.c         0x00000000   Number         0  stdout.o ABSOLUTE
+    ../clib/microlib/string/memcpy.c         0x00000000   Number         0  memcpyb.o ABSOLUTE
+    ../clib/microlib/string/memcpy.c         0x00000000   Number         0  memcpya.o ABSOLUTE
+    ../clib/microlib/string/memset.c         0x00000000   Number         0  memseta.o ABSOLUTE
+    ../clib/microlib/string/strncpy.c        0x00000000   Number         0  strncpy.o ABSOLUTE
+    ../clib/microlib/stubs.s                 0x00000000   Number         0  iusefp.o ABSOLUTE
+    ../fplib/microlib/f2d.c                  0x00000000   Number         0  f2d.o ABSOLUTE
+    ../fplib/microlib/fpadd.c                0x00000000   Number         0  dadd.o ABSOLUTE
+    ../fplib/microlib/fpdiv.c                0x00000000   Number         0  ddiv.o ABSOLUTE
+    ../fplib/microlib/fpepilogue.c           0x00000000   Number         0  fepilogue.o ABSOLUTE
+    ../fplib/microlib/fpepilogue.c           0x00000000   Number         0  depilogue.o ABSOLUTE
+    ../fplib/microlib/fpfix.c                0x00000000   Number         0  dfixi.o ABSOLUTE
+    ../fplib/microlib/fpfix.c                0x00000000   Number         0  dfixul.o ABSOLUTE
+    ../fplib/microlib/fpflt.c                0x00000000   Number         0  ffltui.o ABSOLUTE
+    ../fplib/microlib/fpflt.c                0x00000000   Number         0  dflti.o ABSOLUTE
+    ../fplib/microlib/fpmul.c                0x00000000   Number         0  dmul.o ABSOLUTE
+    FreeRTOS\\src\\port.c                    0x00000000   Number         0  port.o ABSOLUTE
+    FreeRTOS\src\heap_2.c                    0x00000000   Number         0  heap_2.o ABSOLUTE
+    FreeRTOS\src\list.c                      0x00000000   Number         0  list.o ABSOLUTE
+    FreeRTOS\src\port.c                      0x00000000   Number         0  port.o ABSOLUTE
+    FreeRTOS\src\queue.c                     0x00000000   Number         0  queue.o ABSOLUTE
+    FreeRTOS\src\serial.c                    0x00000000   Number         0  serial.o ABSOLUTE
+    FreeRTOS\src\tasks.c                     0x00000000   Number         0  tasks.o ABSOLUTE
+    STM32F10x.s                              0x00000000   Number         0  stm32f10x.o ABSOLUTE
+    STM32F10xFWLib\src\cortexm3_macro_rvds.s 0x00000000   Number         0  cortexm3_macro_rvds.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_gpio.c      0x00000000   Number         0  stm32f10x_gpio.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_lib.c       0x00000000   Number         0  stm32f10x_lib.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_nvic.c      0x00000000   Number         0  stm32f10x_nvic.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_rcc.c       0x00000000   Number         0  stm32f10x_rcc.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_spi.c       0x00000000   Number         0  stm32f10x_spi.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_systick.c   0x00000000   Number         0  stm32f10x_systick.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_tim.c       0x00000000   Number         0  stm32f10x_tim.o ABSOLUTE
+    STM32F10xFWLib\src\stm32f10x_usart.c     0x00000000   Number         0  stm32f10x_usart.o ABSOLUTE
+    cdcmple.s                                0x00000000   Number         0  cdcmple.o ABSOLUTE
+    cdrcmple.s                               0x00000000   Number         0  cdrcmple.o ABSOLUTE
+    dc.s                                     0x00000000   Number         0  dc.o ABSOLUTE
+    handlers.s                               0x00000000   Number         0  handlers.o ABSOLUTE
+    init.s                                   0x00000000   Number         0  init.o ABSOLUTE
+    main.c                                   0x00000000   Number         0  main.o ABSOLUTE
+    motor.c                                  0x00000000   Number         0  motor.o ABSOLUTE
+    pin_listener.c                           0x00000000   Number         0  pin_listener.o ABSOLUTE
+    planner.c                                0x00000000   Number         0  planner.o ABSOLUTE
+    position_tracker.c                       0x00000000   Number         0  position_tracker.o ABSOLUTE
+    safety.c                                 0x00000000   Number         0  safety.o ABSOLUTE
+    setup.c                                  0x00000000   Number         0  setup.o ABSOLUTE
+    RESET                                    0x08000000   Section      236  stm32f10x.o(RESET)
+    .ARM.Collect$$$$00000000                 0x080000ec   Section        0  entry.o(.ARM.Collect$$$$00000000)
+    .ARM.Collect$$$$00000001                 0x080000ec   Section        4  entry2.o(.ARM.Collect$$$$00000001)
+    .ARM.Collect$$$$00000004                 0x080000f0   Section        4  entry5.o(.ARM.Collect$$$$00000004)
+    .ARM.Collect$$$$00000008                 0x080000f4   Section        0  entry7b.o(.ARM.Collect$$$$00000008)
+    .ARM.Collect$$$$0000000A                 0x080000f4   Section        0  entry8b.o(.ARM.Collect$$$$0000000A)
+    .ARM.Collect$$$$0000000B                 0x080000f4   Section        8  entry9a.o(.ARM.Collect$$$$0000000B)
+    .ARM.Collect$$$$0000000D                 0x080000fc   Section        0  entry10a.o(.ARM.Collect$$$$0000000D)
+    .ARM.Collect$$$$0000000F                 0x080000fc   Section        0  entry11a.o(.ARM.Collect$$$$0000000F)
+    .ARM.Collect$$$$00002712                 0x080000fc   Section        4  entry2.o(.ARM.Collect$$$$00002712)
+    __lit__00000000                          0x080000fc   Data           4  entry2.o(.ARM.Collect$$$$00002712)
+    .emb_text                                0x08000100   Section      136  port.o(.emb_text)
+    .text                                    0x08000188   Section       28  stm32f10x.o(.text)
+    .text                                    0x080001a4   Section        0  stm32f10x_gpio.o(.text)
+    .text                                    0x08000484   Section        0  stm32f10x_nvic.o(.text)
+    .text                                    0x08000864   Section        0  stm32f10x_rcc.o(.text)
+    .text                                    0x08000be0   Section        0  stm32f10x_systick.o(.text)
+    .text                                    0x08000ca4   Section        0  stm32f10x_tim.o(.text)
+    TI1_Config                               0x08000dff   Thumb Code    56  stm32f10x_tim.o(.text)
+    TI2_Config                               0x08000e51   Thumb Code    80  stm32f10x_tim.o(.text)
+    PWMI_Config                              0x08000ea1   Thumb Code   124  stm32f10x_tim.o(.text)
+    TI4_Config                               0x08000f37   Thumb Code    82  stm32f10x_tim.o(.text)
+    TI3_Config                               0x08000f9b   Thumb Code    66  stm32f10x_tim.o(.text)
+    ETR_Config                               0x08001161   Thumb Code    26  stm32f10x_tim.o(.text)
+    .text                                    0x08001508   Section        0  stm32f10x_usart.o(.text)
+    .text                                    0x0800182c   Section      110  cortexm3_macro_rvds.o(.text)
+    .text                                    0x0800189c   Section        0  main.o(.text)
+    .text                                    0x08001a10   Section        0  setup.o(.text)
+    .text                                    0x08001ac8   Section        0  pin_listener.o(.text)
+    pollPin                                  0x08001ac9   Thumb Code    80  pin_listener.o(.text)
+    pollPinsTask                             0x08001b19   Thumb Code    60  pin_listener.o(.text)
+    .text                                    0x08001ba8   Section        0  position_tracker.o(.text)
+    positionTrackerTask                      0x08001ba9   Thumb Code   114  position_tracker.o(.text)
+    .text                                    0x08001ce4   Section        0  motor.o(.text)
+    maxDutyAtDistance                        0x08001ce5   Thumb Code    22  motor.o(.text)
+    min                                      0x08001cfb   Thumb Code    14  motor.o(.text)
+    setCompare                               0x08001d09   Thumb Code    78  motor.o(.text)
+    setDuty                                  0x08001d57   Thumb Code    56  motor.o(.text)
+    motorTask                                0x08001d8f   Thumb Code   222  motor.o(.text)
+    .text                                    0x08001f60   Section        0  planner.o(.text)
+    plannerTask                              0x08001ff9   Thumb Code   358  planner.o(.text)
+    .text                                    0x080023a0   Section        0  safety.o(.text)
+    check                                    0x080023a1   Thumb Code    36  safety.o(.text)
+    safetyTask                               0x080023c5   Thumb Code  1198  safety.o(.text)
+    .text                                    0x080028b0   Section        0  heap_2.o(.text)
+    .text                                    0x080029c8   Section        0  list.o(.text)
+    .text                                    0x08002a5c   Section        0  port.o(.text)
+    prvSetupTimerInterrupt                   0x08002a77   Thumb Code    14  port.o(.text)
+    .text                                    0x08002b10   Section        0  queue.o(.text)
+    prvUnlockQueue                           0x08002b7d   Thumb Code   110  queue.o(.text)
+    prvIsQueueFull                           0x08002beb   Thumb Code    32  queue.o(.text)
+    prvCopyDataToQueue                       0x08002c0b   Thumb Code   104  queue.o(.text)
+    prvIsQueueEmpty                          0x08002ddd   Thumb Code    28  queue.o(.text)
+    prvCopyDataFromQueue                     0x08002df9   Thumb Code    42  queue.o(.text)
+    .text                                    0x08002fd4   Section        0  tasks.o(.text)
+    prvInitialiseTaskLists                   0x08002fd5   Thumb Code    70  tasks.o(.text)
+    prvInitialiseTCBVariables                0x0800301b   Thumb Code    70  tasks.o(.text)
+    prvAllocateTCBAndStack                   0x08003061   Thumb Code    58  tasks.o(.text)
+    prvDeleteTCB                             0x080036ff   Thumb Code    18  tasks.o(.text)
+    prvCheckTasksWaitingTermination          0x08003711   Thumb Code    94  tasks.o(.text)
+    prvIdleTask                              0x0800376f   Thumb Code    20  tasks.o(.text)
+    .text                                    0x08003a4c   Section        0  serial.o(.text)
+    .text                                    0x08003c20   Section        0  memcpya.o(.text)
+    .text                                    0x08003c44   Section        0  memseta.o(.text)
+    .text                                    0x08003c68   Section        0  strncpy.o(.text)
+    .text                                    0x08003c80   Section        0  dadd.o(.text)
+    .text                                    0x08003dce   Section        0  ddiv.o(.text)
+    .text                                    0x08003eac   Section        0  ffltui.o(.text)
+    .text                                    0x08003eb6   Section        0  dflti.o(.text)
+    .text                                    0x08003ed8   Section        0  dfixi.o(.text)
+    .text                                    0x08003f16   Section        0  f2d.o(.text)
+    .text                                    0x08003f3c   Section       48  cdcmple.o(.text)
+    .text                                    0x08003f6c   Section        0  uidiv.o(.text)
+    .text                                    0x08003f98   Section        0  llshl.o(.text)
+    .text                                    0x08003fb6   Section        0  llushr.o(.text)
+    .text                                    0x08003fd6   Section        0  llsshr.o(.text)
+    .text                                    0x08003ffa   Section        0  iusefp.o(.text)
+    .text                                    0x08003ffa   Section        0  fepilogue.o(.text)
+    .text                                    0x08004068   Section        0  depilogue.o(.text)
+    .text                                    0x08004124   Section       36  init.o(.text)
+    i.__0printf$3                            0x08004148   Section        0  printf3.o(i.__0printf$3)
+    i.__scatterload_copy                     0x08004168   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x08004176   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x08004178   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i._printf_core                           0x08004188   Section        0  printf3.o(i._printf_core)
+    _printf_core                             0x08004189   Thumb Code   436  printf3.o(i._printf_core)
+    .constdata                               0x08004340   Section       20  stm32f10x_rcc.o(.constdata)
+    APBAHBPrescTable                         0x08004340   Data          16  stm32f10x_rcc.o(.constdata)
+    ADCPrescTable                            0x08004350   Data           4  stm32f10x_rcc.o(.constdata)
+    .constdata                               0x08004354   Section       16  stm32f10x_tim.o(.constdata)
+    Tab_OCModeMask                           0x08004354   Data           8  stm32f10x_tim.o(.constdata)
+    Tab_PolarityMask                         0x0800435c   Data           8  stm32f10x_tim.o(.constdata)
+    .data                                    0x20000000   Section       96  main.o(.data)
+    .data                                    0x20000060   Section        4  setup.o(.data)
+    xPort                                    0x20000060   Data           4  setup.o(.data)
+    .data                                    0x20000064   Section        4  pin_listener.o(.data)
+    .data                                    0x20000068   Section       16  planner.o(.data)
+    .data                                    0x20000078   Section        4  safety.o(.data)
+    xLastWakeTime                            0x20000078   Data           4  safety.o(.data)
+    .data                                    0x2000007c   Section       24  heap_2.o(.data)
+    xStart                                   0x2000007c   Data           8  heap_2.o(.data)
+    xEnd                                     0x20000084   Data           8  heap_2.o(.data)
+    xFreeBytesRemaining                      0x2000008c   Data           4  heap_2.o(.data)
+    xHeapHasBeenInitialised                  0x20000090   Data           4  heap_2.o(.data)
+    .data                                    0x20000094   Section        4  port.o(.data)
+    uxCriticalNesting                        0x20000094   Data           4  port.o(.data)
+    .data                                    0x20000098   Section       56  tasks.o(.data)
+    pxDelayedTaskList                        0x2000009c   Data           4  tasks.o(.data)
+    pxOverflowDelayedTaskList                0x200000a0   Data           4  tasks.o(.data)
+    uxTasksDeleted                           0x200000a4   Data           4  tasks.o(.data)
+    uxCurrentNumberOfTasks                   0x200000a8   Data           4  tasks.o(.data)
+    xTickCount                               0x200000ac   Data           4  tasks.o(.data)
+    uxTopUsedPriority                        0x200000b0   Data           4  tasks.o(.data)
+    uxTopReadyPriority                       0x200000b4   Data           4  tasks.o(.data)
+    xSchedulerRunning                        0x200000b8   Data           4  tasks.o(.data)
+    uxSchedulerSuspended                     0x200000bc   Data           4  tasks.o(.data)
+    uxMissedTicks                            0x200000c0   Data           4  tasks.o(.data)
+    xMissedYield                             0x200000c4   Data           4  tasks.o(.data)
+    xNumOfOverflows                          0x200000c8   Data           4  tasks.o(.data)
+    uxTaskNumber                             0x200000cc   Data           4  tasks.o(.data)
+    .data                                    0x200000d0   Section        8  serial.o(.data)
+    xRxedChars                               0x200000d0   Data           4  serial.o(.data)
+    xCharsForTx                              0x200000d4   Data           4  serial.o(.data)
+    .data                                    0x200000d8   Section        4  stdout.o(.data)
+    .bss                                     0x200000dc   Section       52  main.o(.bss)
+    .bss                                     0x20000110   Section    17408  heap_2.o(.bss)
+    xHeap                                    0x20000110   Data       17408  heap_2.o(.bss)
+    .bss                                     0x20004510   Section      200  tasks.o(.bss)
+    pxReadyTasksLists                        0x20004510   Data         100  tasks.o(.bss)
+    xDelayedTaskList1                        0x20004574   Data          20  tasks.o(.bss)
+    xDelayedTaskList2                        0x20004588   Data          20  tasks.o(.bss)
+    xPendingReadyList                        0x2000459c   Data          20  tasks.o(.bss)
+    xTasksWaitingTermination                 0x200045b0   Data          20  tasks.o(.bss)
+    xSuspendedTaskList                       0x200045c4   Data          20  tasks.o(.bss)
+    STACK                                    0x200045d8   Section      512  stm32f10x.o(STACK)
+
+    Global Symbols
+
+    Symbol Name                              Value     Ov Type        Size  Object(Section)
+
+    BuildAttributes$$THM_ISAv4$P$D$K$B$S$PE$A:L22UL41UL21$X:L11$S22US41US21$IEEE1$IW$USESV6$~STKCKD$USESV7$~SHL$OTIME$ROPI$EBA8$MICROLIB$REQ8$PRES8$EABIv2 0x00000000   Number         0  anon$$obj.o ABSOLUTE
+    __ARM_use_no_argv                        0x00000000   Number         0  main.o ABSOLUTE
+    _printf_a                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_c                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_charcount                        0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_d                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_e                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_f                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_flags                            0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_fp_dec                           0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_fp_hex                           0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_g                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_i                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_int_dec                          0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_l                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_lc                               0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_ll                               0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_lld                              0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_lli                              0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_llo                              0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_llu                              0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_llx                              0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_longlong_dec                     0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_longlong_hex                     0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_longlong_oct                     0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_ls                               0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_mbtowc                           0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_n                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_o                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_p                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_percent                          0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_pre_padding                      0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_return_value                     0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_s                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_sizespec                         0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_str                              0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_truncate_signed                  0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_truncate_unsigned                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_u                                0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_wc                               0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_wctomb                           0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_widthprec                        0x00000000   Number         0  stubs.o ABSOLUTE
+    _printf_x                                0x00000000   Number         0  stubs.o ABSOLUTE
+    __cpp_initialize__aeabi_                  - Undefined Weak Reference
+    __cxa_finalize                            - Undefined Weak Reference
+    __decompress                              - Undefined Weak Reference
+    _clock_init                               - Undefined Weak Reference
+    _microlib_exit                            - Undefined Weak Reference
+    __Vectors                                0x08000000   Data           4  stm32f10x.o(RESET)
+    __main                                   0x080000ed   Thumb Code     0  entry.o(.ARM.Collect$$$$00000000)
+    _main_stk                                0x080000ed   Thumb Code     0  entry2.o(.ARM.Collect$$$$00000001)
+    _main_scatterload                        0x080000f1   Thumb Code     0  entry5.o(.ARM.Collect$$$$00000004)
+    __main_after_scatterload                 0x080000f5   Thumb Code     0  entry5.o(.ARM.Collect$$$$00000004)
+    _main_clock                              0x080000f5   Thumb Code     0  entry7b.o(.ARM.Collect$$$$00000008)
+    _main_cpp_init                           0x080000f5   Thumb Code     0  entry8b.o(.ARM.Collect$$$$0000000A)
+    _main_init                               0x080000f5   Thumb Code     0  entry9a.o(.ARM.Collect$$$$0000000B)
+    __rt_final_cpp                           0x080000fd   Thumb Code     0  entry10a.o(.ARM.Collect$$$$0000000D)
+    __rt_final_exit                          0x080000fd   Thumb Code     0  entry11a.o(.ARM.Collect$$$$0000000F)
+    vPortSVCHandler                          0x08000101   Thumb Code    28  port.o(.emb_text)
+    vPortStartFirstTask                      0x08000121   Thumb Code    12  port.o(.emb_text)
+    xPortPendSVHandler                       0x08000131   Thumb Code    56  port.o(.emb_text)
+    vPortSetInterruptMask                    0x0800016d   Thumb Code    14  port.o(.emb_text)
+    vPortClearInterruptMask                  0x0800017b   Thumb Code    14  port.o(.emb_text)
+    Reset_Handler                            0x08000189   Thumb Code     4  stm32f10x.o(.text)
+    NMI_Handler                              0x0800018d   Thumb Code     2  stm32f10x.o(.text)
+    HardFault_Handler                        0x0800018f   Thumb Code     2  stm32f10x.o(.text)
+    MemManage_Handler                        0x08000191   Thumb Code     2  stm32f10x.o(.text)
+    BusFault_Handler                         0x08000193   Thumb Code     2  stm32f10x.o(.text)
+    UsageFault_Handler                       0x08000195   Thumb Code     2  stm32f10x.o(.text)
+    SVC_Handler                              0x08000197   Thumb Code     2  stm32f10x.o(.text)
+    DebugMon_Handler                         0x08000199   Thumb Code     2  stm32f10x.o(.text)
+    PendSV_Handler                           0x0800019b   Thumb Code     2  stm32f10x.o(.text)
+    SysTick_Handler                          0x0800019d   Thumb Code     2  stm32f10x.o(.text)
+    ADC_IRQHandler                           0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    CAN_RX1_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    CAN_SCE_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel1_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel2_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel3_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel4_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel5_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel6_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    DMAChannel7_IRQHandler                   0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI0_IRQHandler                         0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI15_10_IRQHandler                     0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI1_IRQHandler                         0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI2_IRQHandler                         0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI3_IRQHandler                         0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI4_IRQHandler                         0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    EXTI9_5_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    FLASH_IRQHandler                         0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    I2C1_ER_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    I2C1_EV_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    I2C2_ER_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    I2C2_EV_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    PVD_IRQHandler                           0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    RCC_IRQHandler                           0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    RTCAlarm_IRQHandler                      0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    RTC_IRQHandler                           0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    SPI1_IRQHandler                          0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    SPI2_IRQHandler                          0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TAMPER_IRQHandler                        0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM1_BRK_IRQHandler                      0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM1_CC_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM1_TRG_COM_IRQHandler                  0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM1_UP_IRQHandler                       0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM2_IRQHandler                          0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM3_IRQHandler                          0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    TIM4_IRQHandler                          0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    USART1_IRQHandler                        0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    USART2_IRQHandler                        0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    USART3_IRQHandler                        0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    USBWakeUp_IRQHandler                     0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    USB_HP_CAN_TX_IRQHandler                 0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    USB_LP_CAN_RX0_IRQHandler                0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    WWDG_IRQHandler                          0x0800019f   Thumb Code     0  stm32f10x.o(.text)
+    GPIO_DeInit                              0x080001a5   Thumb Code   138  stm32f10x_gpio.o(.text)
+    GPIO_AFIODeInit                          0x0800022f   Thumb Code    20  stm32f10x_gpio.o(.text)
+    GPIO_Init                                0x08000243   Thumb Code   278  stm32f10x_gpio.o(.text)
+    GPIO_StructInit                          0x08000359   Thumb Code    16  stm32f10x_gpio.o(.text)
+    GPIO_ReadInputDataBit                    0x08000369   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_ReadInputData                       0x0800037b   Thumb Code     8  stm32f10x_gpio.o(.text)
+    GPIO_ReadOutputDataBit                   0x08000383   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_ReadOutputData                      0x08000395   Thumb Code     8  stm32f10x_gpio.o(.text)
+    GPIO_WriteBit                            0x0800039d   Thumb Code    10  stm32f10x_gpio.o(.text)
+    GPIO_Write                               0x080003a7   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_PinLockConfig                       0x080003ab   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_EventOutputConfig                   0x080003bd   Thumb Code    26  stm32f10x_gpio.o(.text)
+    GPIO_EventOutputCmd                      0x080003d7   Thumb Code     6  stm32f10x_gpio.o(.text)
+    GPIO_PinRemapConfig                      0x080003dd   Thumb Code    86  stm32f10x_gpio.o(.text)
+    GPIO_EXTILineConfig                      0x08000433   Thumb Code    66  stm32f10x_gpio.o(.text)
+    NVIC_DeInit                              0x08000485   Thumb Code    54  stm32f10x_nvic.o(.text)
+    NVIC_SCBDeInit                           0x080004bb   Thumb Code    76  stm32f10x_nvic.o(.text)
+    NVIC_PriorityGroupConfig                 0x08000507   Thumb Code    12  stm32f10x_nvic.o(.text)
+    NVIC_Init                                0x08000513   Thumb Code   152  stm32f10x_nvic.o(.text)
+    NVIC_StructInit                          0x080005ab   Thumb Code    12  stm32f10x_nvic.o(.text)
+    NVIC_SETPRIMASK                          0x080005b7   Thumb Code     8  stm32f10x_nvic.o(.text)
+    NVIC_RESETPRIMASK                        0x080005bf   Thumb Code     8  stm32f10x_nvic.o(.text)
+    NVIC_SETFAULTMASK                        0x080005c7   Thumb Code     8  stm32f10x_nvic.o(.text)
+    NVIC_RESETFAULTMASK                      0x080005cf   Thumb Code     8  stm32f10x_nvic.o(.text)
+    NVIC_BASEPRICONFIG                       0x080005d7   Thumb Code    12  stm32f10x_nvic.o(.text)
+    NVIC_GetBASEPRI                          0x080005e3   Thumb Code     8  stm32f10x_nvic.o(.text)
+    NVIC_GetCurrentPendingIRQChannel         0x080005eb   Thumb Code    10  stm32f10x_nvic.o(.text)
+    NVIC_GetIRQChannelPendingBitStatus       0x080005f5   Thumb Code    42  stm32f10x_nvic.o(.text)
+    NVIC_SetIRQChannelPendingBit             0x0800061f   Thumb Code     6  stm32f10x_nvic.o(.text)
+    NVIC_ClearIRQChannelPendingBit           0x08000625   Thumb Code    20  stm32f10x_nvic.o(.text)
+    NVIC_GetCurrentActiveHandler             0x08000639   Thumb Code    10  stm32f10x_nvic.o(.text)
+    NVIC_GetIRQChannelActiveBitStatus        0x08000643   Thumb Code    42  stm32f10x_nvic.o(.text)
+    NVIC_GetCPUID                            0x0800066d   Thumb Code     8  stm32f10x_nvic.o(.text)
+    NVIC_SetVectorTable                      0x08000675   Thumb Code    22  stm32f10x_nvic.o(.text)
+    NVIC_GenerateSystemReset                 0x0800068b   Thumb Code    12  stm32f10x_nvic.o(.text)
+    NVIC_GenerateCoreReset                   0x08000697   Thumb Code    12  stm32f10x_nvic.o(.text)
+    NVIC_SystemLPConfig                      0x080006a3   Thumb Code    34  stm32f10x_nvic.o(.text)
+    NVIC_SystemHandlerConfig                 0x080006c5   Thumb Code    48  stm32f10x_nvic.o(.text)
+    NVIC_SystemHandlerPriorityConfig         0x080006f5   Thumb Code   110  stm32f10x_nvic.o(.text)
+    NVIC_GetSystemHandlerPendingBitStatus    0x08000763   Thumb Code    44  stm32f10x_nvic.o(.text)
+    NVIC_SetSystemHandlerPendingBit          0x0800078f   Thumb Code    22  stm32f10x_nvic.o(.text)
+    NVIC_ClearSystemHandlerPendingBit        0x080007a5   Thumb Code    26  stm32f10x_nvic.o(.text)
+    NVIC_GetSystemHandlerActiveBitStatus     0x080007bf   Thumb Code    42  stm32f10x_nvic.o(.text)
+    NVIC_GetFaultHandlerSources              0x080007e9   Thumb Code    66  stm32f10x_nvic.o(.text)
+    NVIC_GetFaultAddress                     0x0800082b   Thumb Code    28  stm32f10x_nvic.o(.text)
+    RCC_DeInit                               0x08000865   Thumb Code    78  stm32f10x_rcc.o(.text)
+    RCC_HSEConfig                            0x080008b3   Thumb Code    70  stm32f10x_rcc.o(.text)
+    RCC_AdjustHSICalibrationValue            0x080008f9   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_HSICmd                               0x0800090d   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_PLLConfig                            0x08000913   Thumb Code    24  stm32f10x_rcc.o(.text)
+    RCC_PLLCmd                               0x0800092b   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_SYSCLKConfig                         0x08000931   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_GetSYSCLKSource                      0x08000943   Thumb Code    10  stm32f10x_rcc.o(.text)
+    RCC_HCLKConfig                           0x0800094d   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_PCLK1Config                          0x0800095f   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_PCLK2Config                          0x08000971   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_ITConfig                             0x08000985   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_USBCLKConfig                         0x0800099f   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_ADCCLKConfig                         0x080009a7   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_LSEConfig                            0x080009b9   Thumb Code    50  stm32f10x_rcc.o(.text)
+    RCC_LSICmd                               0x080009eb   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_RTCCLKConfig                         0x080009f1   Thumb Code    12  stm32f10x_rcc.o(.text)
+    RCC_RTCCLKCmd                            0x080009fd   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_GetClocksFreq                        0x08000a05   Thumb Code   192  stm32f10x_rcc.o(.text)
+    RCC_AHBPeriphClockCmd                    0x08000ac5   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB2PeriphClockCmd                   0x08000adf   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB1PeriphClockCmd                   0x08000af9   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB2PeriphResetCmd                   0x08000b13   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB1PeriphResetCmd                   0x08000b2d   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_BackupResetCmd                       0x08000b47   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_ClockSecuritySystemCmd               0x08000b4f   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_MCOConfig                            0x08000b55   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_GetFlagStatus                        0x08000b5b   Thumb Code    56  stm32f10x_rcc.o(.text)
+    RCC_ClearFlag                            0x08000b93   Thumb Code    14  stm32f10x_rcc.o(.text)
+    RCC_GetITStatus                          0x08000ba1   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_ClearITPendingBit                    0x08000bb5   Thumb Code     6  stm32f10x_rcc.o(.text)
+    SysTick_CLKSourceConfig                  0x08000be1   Thumb Code    40  stm32f10x_systick.o(.text)
+    SysTick_SetReload                        0x08000c09   Thumb Code     8  stm32f10x_systick.o(.text)
+    SysTick_CounterCmd                       0x08000c11   Thumb Code    52  stm32f10x_systick.o(.text)
+    SysTick_ITConfig                         0x08000c45   Thumb Code    38  stm32f10x_systick.o(.text)
+    SysTick_GetCounter                       0x08000c6b   Thumb Code     8  stm32f10x_systick.o(.text)
+    SysTick_GetFlagStatus                    0x08000c73   Thumb Code    50  stm32f10x_systick.o(.text)
+    TIM_DeInit                               0x08000ca5   Thumb Code    84  stm32f10x_tim.o(.text)
+    TIM_TimeBaseInit                         0x08000cf9   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_OCInit                               0x08000d17   Thumb Code   214  stm32f10x_tim.o(.text)
+    TIM_SetIC1Prescaler                      0x08000ded   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SetIC2Prescaler                      0x08000e37   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SetIC4Prescaler                      0x08000f1d   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SetIC3Prescaler                      0x08000f89   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ICInit                               0x08000fdd   Thumb Code   126  stm32f10x_tim.o(.text)
+    TIM_TimeBaseStructInit                   0x0800105b   Thumb Code    12  stm32f10x_tim.o(.text)
+    TIM_OCStructInit                         0x08001067   Thumb Code    12  stm32f10x_tim.o(.text)
+    TIM_ICStructInit                         0x08001073   Thumb Code    34  stm32f10x_tim.o(.text)
+    TIM_Cmd                                  0x08001095   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_ITConfig                             0x080010ad   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_DMAConfig                            0x080010bf   Thumb Code    22  stm32f10x_tim.o(.text)
+    TIM_DMACmd                               0x080010d5   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_InternalClockConfig                  0x080010ed   Thumb Code    12  stm32f10x_tim.o(.text)
+    TIM_SelectInputTrigger                   0x080010f9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ITRxExternalClockConfig              0x0800110b   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_TIxExternalClockConfig               0x08001123   Thumb Code    62  stm32f10x_tim.o(.text)
+    TIM_ETRClockMode1Config                  0x0800117b   Thumb Code    64  stm32f10x_tim.o(.text)
+    TIM_ETRClockMode2Config                  0x080011bb   Thumb Code    36  stm32f10x_tim.o(.text)
+    TIM_PrescalerConfig                      0x080011df   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_CounterModeConfig                    0x080011f9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC1Config                      0x0800120b   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC2Config                      0x0800121d   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ForcedOC3Config                      0x08001237   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC4Config                      0x08001249   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ARRPreloadConfig                     0x08001263   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectCCDMA                          0x0800127b   Thumb Code    22  stm32f10x_tim.o(.text)
+    TIM_OC1PreloadConfig                     0x08001291   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2PreloadConfig                     0x080012a3   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3PreloadConfig                     0x080012bd   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC4PreloadConfig                     0x080012cf   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC1FastConfig                        0x080012e9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2FastConfig                        0x080012fb   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3FastConfig                        0x08001315   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC4FastConfig                        0x08001327   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_UpdateDisableConfig                  0x08001341   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_EncoderInterfaceConfig               0x08001359   Thumb Code    66  stm32f10x_tim.o(.text)
+    TIM_GenerateEvent                        0x0800139b   Thumb Code     8  stm32f10x_tim.o(.text)
+    TIM_OC1PolarityConfig                    0x080013a3   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2PolarityConfig                    0x080013b5   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3PolarityConfig                    0x080013cf   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC4PolarityConfig                    0x080013e9   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_UpdateRequestConfig                  0x08001403   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SelectHallSensor                     0x0800141d   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectOnePulseMode                   0x08001435   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectOutputTrigger                  0x08001447   Thumb Code    16  stm32f10x_tim.o(.text)
+    TIM_SelectSlaveMode                      0x08001457   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectMasterSlaveMode                0x08001469   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SetAutoreload                        0x0800147b   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare1                          0x0800147f   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare2                          0x08001483   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare3                          0x08001487   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare4                          0x0800148b   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_SetClockDivision                     0x08001491   Thumb Code    14  stm32f10x_tim.o(.text)
+    TIM_GetCapture1                          0x0800149f   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture2                          0x080014a5   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture3                          0x080014ab   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture4                          0x080014b1   Thumb Code     8  stm32f10x_tim.o(.text)
+    TIM_GetCounter                           0x080014b9   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetPrescaler                         0x080014bf   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetFlagStatus                        0x080014c5   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearFlag                            0x080014d7   Thumb Code     8  stm32f10x_tim.o(.text)
+    TIM_GetITStatus                          0x080014df   Thumb Code    34  stm32f10x_tim.o(.text)
+    TIM_ClearITPendingBit                    0x08001501   Thumb Code     8  stm32f10x_tim.o(.text)
+    USART_DeInit                             0x08001509   Thumb Code    88  stm32f10x_usart.o(.text)
+    USART_Init                               0x08001561   Thumb Code   168  stm32f10x_usart.o(.text)
+    USART_StructInit                         0x08001609   Thumb Code    32  stm32f10x_usart.o(.text)
+    USART_Cmd                                0x08001629   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_ITConfig                           0x08001641   Thumb Code    64  stm32f10x_usart.o(.text)
+    USART_DMACmd                             0x08001681   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_SetAddress                         0x08001693   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_WakeUpConfig                       0x080016a5   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_ReceiverWakeUpCmd                  0x080016b7   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_LINBreakDetectLengthConfig         0x080016cf   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_LINCmd                             0x080016e1   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_SendData                           0x080016f9   Thumb Code     8  stm32f10x_usart.o(.text)
+    USART_ReceiveData                        0x08001701   Thumb Code    10  stm32f10x_usart.o(.text)
+    USART_SendBreak                          0x0800170b   Thumb Code    10  stm32f10x_usart.o(.text)
+    USART_SetGuardTime                       0x08001715   Thumb Code    16  stm32f10x_usart.o(.text)
+    USART_SetPrescaler                       0x08001725   Thumb Code    16  stm32f10x_usart.o(.text)
+    USART_SmartCardCmd                       0x08001735   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_SmartCardNACKCmd                   0x0800174d   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_HalfDuplexCmd                      0x08001765   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_IrDAConfig                         0x0800177d   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_IrDACmd                            0x0800178f   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_GetFlagStatus                      0x080017a7   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_ClearFlag                          0x080017b9   Thumb Code     8  stm32f10x_usart.o(.text)
+    USART_GetITStatus                        0x080017c1   Thumb Code    76  stm32f10x_usart.o(.text)
+    USART_ClearITPendingBit                  0x0800180d   Thumb Code    22  stm32f10x_usart.o(.text)
+    __WFI                                    0x0800182d   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __WFE                                    0x08001831   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __SEV                                    0x08001835   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __ISB                                    0x08001839   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __DSB                                    0x0800183f   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __DMB                                    0x08001845   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __SVC                                    0x0800184b   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __MRS_CONTROL                            0x0800184f   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __MSR_CONTROL                            0x08001855   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __MRS_PSP                                0x0800185f   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __MSR_PSP                                0x08001865   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __MRS_MSP                                0x0800186b   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __MSR_MSP                                0x08001871   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __SETPRIMASK                             0x08001877   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __RESETPRIMASK                           0x0800187b   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __SETFAULTMASK                           0x0800187f   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __RESETFAULTMASK                         0x08001883   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __BASEPRICONFIG                          0x08001887   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __GetBASEPRI                             0x0800188d   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __REV_HalfWord                           0x08001893   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    __REV_Word                               0x08001897   Thumb Code     0  cortexm3_macro_rvds.o(.text)
+    assert_failed                            0x0800189d   Thumb Code    18  main.o(.text)
+    setupInputModule                         0x080018af   Thumb Code    84  main.o(.text)
+    setupActuatorModule                      0x08001903   Thumb Code   102  main.o(.text)
+    getCarPosition                           0x08001969   Thumb Code    10  main.o(.text)
+    setCarTargetPosition                     0x08001973   Thumb Code    14  main.o(.text)
+    setCarMotorStopped                       0x08001981   Thumb Code    14  main.o(.text)
+    main                                     0x0800198f   Thumb Code    48  main.o(.text)
+    prvSetupHardware                         0x08001a11   Thumb Code   152  setup.o(.text)
+    fputc                                    0x08001aa9   Thumb Code    24  setup.o(.text)
+    setupPinListeners                        0x08001b55   Thumb Code    46  pin_listener.o(.text)
+    setupPositionTracker                     0x08001c1b   Thumb Code    92  position_tracker.o(.text)
+    setDirection                             0x08001c77   Thumb Code    34  position_tracker.o(.text)
+    getPosition                              0x08001c99   Thumb Code     6  position_tracker.o(.text)
+    setupMotor                               0x08001e6d   Thumb Code   156  motor.o(.text)
+    setTargetPosition                        0x08001f09   Thumb Code    34  motor.o(.text)
+    setMotorStopped                          0x08001f2b   Thumb Code    34  motor.o(.text)
+    floorToVisit                             0x08001f61   Thumb Code   130  planner.o(.text)
+    getCurrentFloor                          0x08001fe3   Thumb Code    22  planner.o(.text)
+    setupPlanner                             0x0800215f   Thumb Code    28  planner.o(.text)
+    setupSafety                              0x08002873   Thumb Code    30  safety.o(.text)
+    pvPortMalloc                             0x080028b1   Thumb Code   194  heap_2.o(.text)
+    vPortFree                                0x08002973   Thumb Code    56  heap_2.o(.text)
+    xPortGetFreeHeapSize                     0x080029ab   Thumb Code     6  heap_2.o(.text)
+    vPortInitialiseBlocks                    0x080029b1   Thumb Code     2  heap_2.o(.text)
+    vListInitialise                          0x080029c9   Thumb Code    26  list.o(.text)
+    vListInitialiseItem                      0x080029e3   Thumb Code     6  list.o(.text)
+    vListInsertEnd                           0x080029e9   Thumb Code    28  list.o(.text)
+    vListInsert                              0x08002a05   Thumb Code    52  list.o(.text)
+    vListRemove                              0x08002a39   Thumb Code    36  list.o(.text)
+    pxPortInitialiseStack                    0x08002a5d   Thumb Code    26  port.o(.text)
+    xPortStartScheduler                      0x08002a85   Thumb Code    42  port.o(.text)
+    vPortEndScheduler                        0x08002aaf   Thumb Code     2  port.o(.text)
+    vPortYieldFromISR                        0x08002ab1   Thumb Code    12  port.o(.text)
+    vPortEnterCritical                       0x08002abd   Thumb Code    18  port.o(.text)
+    vPortExitCritical                        0x08002acf   Thumb Code    24  port.o(.text)
+    xPortSysTickHandler                      0x08002ae7   Thumb Code    28  port.o(.text)
+    xQueueCreate                             0x08002b11   Thumb Code   108  queue.o(.text)
+    xQueueGenericSend                        0x08002c73   Thumb Code   206  queue.o(.text)
+    xQueueCreateMutex                        0x08002d41   Thumb Code    70  queue.o(.text)
+    xQueueGenericSendFromISR                 0x08002d87   Thumb Code    86  queue.o(.text)
+    xQueueGenericReceive                     0x08002e23   Thumb Code   272  queue.o(.text)
+    xQueueReceiveFromISR                     0x08002f33   Thumb Code    84  queue.o(.text)
+    uxQueueMessagesWaiting                   0x08002f87   Thumb Code    18  queue.o(.text)
+    uxQueueMessagesWaitingFromISR            0x08002f99   Thumb Code     6  queue.o(.text)
+    vQueueDelete                             0x08002f9f   Thumb Code    18  queue.o(.text)
+    xQueueIsQueueEmptyFromISR                0x08002fb1   Thumb Code    16  queue.o(.text)
+    xQueueIsQueueFullFromISR                 0x08002fc1   Thumb Code    20  queue.o(.text)
+    xTaskGenericCreate                       0x0800309b   Thumb Code   240  tasks.o(.text)
+    vTaskDelete                              0x0800318b   Thumb Code    94  tasks.o(.text)
+    vTaskIncrementTick                       0x080031e9   Thumb Code   160  tasks.o(.text)
+    xTaskResumeAll                           0x08003289   Thumb Code   186  tasks.o(.text)
+    vTaskSuspendAll                          0x08003343   Thumb Code    12  tasks.o(.text)
+    vTaskDelayUntil                          0x0800334f   Thumb Code   228  tasks.o(.text)
+    vTaskDelay                               0x08003433   Thumb Code    86  tasks.o(.text)
+    uxTaskPriorityGet                        0x08003489   Thumb Code    30  tasks.o(.text)
+    vTaskPrioritySet                         0x080034a7   Thumb Code   160  tasks.o(.text)
+    vTaskSwitchContext                       0x08003547   Thumb Code    92  tasks.o(.text)
+    vTaskSuspend                             0x080035a3   Thumb Code    96  tasks.o(.text)
+    xTaskIsTaskSuspended                     0x08003603   Thumb Code    60  tasks.o(.text)
+    vTaskResume                              0x0800363f   Thumb Code    92  tasks.o(.text)
+    xTaskResumeFromISR                       0x0800369b   Thumb Code   100  tasks.o(.text)
+    vTaskStartScheduler                      0x08003783   Thumb Code    52  tasks.o(.text)
+    vTaskEndScheduler                        0x080037b7   Thumb Code    18  tasks.o(.text)
+    xTaskGetTickCount                        0x080037c9   Thumb Code    18  tasks.o(.text)
+    xTaskGetTickCountFromISR                 0x080037db   Thumb Code     6  tasks.o(.text)
+    uxTaskGetNumberOfTasks                   0x080037e1   Thumb Code     6  tasks.o(.text)
+    vTaskPlaceOnEventList                    0x080037e7   Thumb Code   170  tasks.o(.text)
+    xTaskRemoveFromEventList                 0x08003891   Thumb Code   106  tasks.o(.text)
+    vTaskSetTimeOutState                     0x080038fb   Thumb Code    14  tasks.o(.text)
+    xTaskCheckForTimeOut                     0x08003909   Thumb Code    92  tasks.o(.text)
+    vTaskMissedYield                         0x08003965   Thumb Code     8  tasks.o(.text)
+    xTaskGetCurrentTaskHandle                0x0800396d   Thumb Code     6  tasks.o(.text)
+    vTaskPriorityInherit                     0x08003973   Thumb Code   108  tasks.o(.text)
+    vTaskPriorityDisinherit                  0x080039df   Thumb Code    70  tasks.o(.text)
+    xSerialPortInitMinimal                   0x08003a4d   Thumb Code   226  serial.o(.text)
+    xSerialGetChar                           0x08003b2f   Thumb Code    32  serial.o(.text)
+    xSerialPutChar                           0x08003b4f   Thumb Code    46  serial.o(.text)
+    vSerialPutString                         0x08003b7d   Thumb Code    38  serial.o(.text)
+    vSerialClose                             0x08003ba3   Thumb Code     2  serial.o(.text)
+    vUARTInterruptHandler                    0x08003ba5   Thumb Code   108  serial.o(.text)
+    __aeabi_memcpy                           0x08003c21   Thumb Code    36  memcpya.o(.text)
+    __aeabi_memcpy4                          0x08003c21   Thumb Code     0  memcpya.o(.text)
+    __aeabi_memcpy8                          0x08003c21   Thumb Code     0  memcpya.o(.text)
+    __aeabi_memset                           0x08003c45   Thumb Code    14  memseta.o(.text)
+    __aeabi_memset4                          0x08003c45   Thumb Code     0  memseta.o(.text)
+    __aeabi_memset8                          0x08003c45   Thumb Code     0  memseta.o(.text)
+    __aeabi_memclr                           0x08003c53   Thumb Code     4  memseta.o(.text)
+    __aeabi_memclr4                          0x08003c53   Thumb Code     0  memseta.o(.text)
+    __aeabi_memclr8                          0x08003c53   Thumb Code     0  memseta.o(.text)
+    _memset$wrapper                          0x08003c57   Thumb Code    18  memseta.o(.text)
+    strncpy                                  0x08003c69   Thumb Code    24  strncpy.o(.text)
+    __aeabi_dadd                             0x08003c81   Thumb Code   322  dadd.o(.text)
+    __aeabi_dsub                             0x08003dc3   Thumb Code     6  dadd.o(.text)
+    __aeabi_drsub                            0x08003dc9   Thumb Code     6  dadd.o(.text)
+    __aeabi_ddiv                             0x08003dcf   Thumb Code   222  ddiv.o(.text)
+    __aeabi_ui2f                             0x08003ead   Thumb Code    10  ffltui.o(.text)
+    __aeabi_i2d                              0x08003eb7   Thumb Code    34  dflti.o(.text)
+    __aeabi_d2iz                             0x08003ed9   Thumb Code    62  dfixi.o(.text)
+    __aeabi_f2d                              0x08003f17   Thumb Code    38  f2d.o(.text)
+    __aeabi_cdcmpeq                          0x08003f3d   Thumb Code     0  cdcmple.o(.text)
+    __aeabi_cdcmple                          0x08003f3d   Thumb Code    48  cdcmple.o(.text)
+    __aeabi_uidiv                            0x08003f6d   Thumb Code     0  uidiv.o(.text)
+    __aeabi_uidivmod                         0x08003f6d   Thumb Code    44  uidiv.o(.text)
+    __aeabi_llsl                             0x08003f99   Thumb Code    30  llshl.o(.text)
+    _ll_shift_l                              0x08003f99   Thumb Code     0  llshl.o(.text)
+    __aeabi_llsr                             0x08003fb7   Thumb Code    32  llushr.o(.text)
+    _ll_ushift_r                             0x08003fb7   Thumb Code     0  llushr.o(.text)
+    __aeabi_lasr                             0x08003fd7   Thumb Code    36  llsshr.o(.text)
+    _ll_sshift_r                             0x08003fd7   Thumb Code     0  llsshr.o(.text)
+    __I$use$fp                               0x08003ffb   Thumb Code     0  iusefp.o(.text)
+    _float_round                             0x08003ffb   Thumb Code    18  fepilogue.o(.text)
+    _float_epilogue                          0x0800400d   Thumb Code    92  fepilogue.o(.text)
+    _double_round                            0x08004069   Thumb Code    30  depilogue.o(.text)
+    _double_epilogue                         0x08004087   Thumb Code   156  depilogue.o(.text)
+    __scatterload                            0x08004125   Thumb Code    28  init.o(.text)
+    __scatterload_rt2                        0x08004125   Thumb Code     0  init.o(.text)
+    __0printf$3                              0x08004149   Thumb Code    22  printf3.o(i.__0printf$3)
+    __1printf$3                              0x08004149   Thumb Code     0  printf3.o(i.__0printf$3)
+    __2printf                                0x08004149   Thumb Code     0  printf3.o(i.__0printf$3)
+    __scatterload_copy                       0x08004169   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x08004177   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x08004179   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    Region$$Table$$Base                      0x08004364   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x08004384   Number         0  anon$$obj.o(Region$$Table)
+    pinEventQueue                            0x20000000   Data           4  main.o(.data)
+    pinListeners                             0x20000004   Data          72  main.o(.data)
+    listenerSet                              0x2000004c   Data          20  main.o(.data)
+    counter_GPIO_Pin                         0x20000064   Data           4  pin_listener.o(.data)
+    floorFlags                               0x20000068   Data          16  planner.o(.data)
+    pxCurrentTCB                             0x20000098   Data           4  tasks.o(.data)
+    __stdout                                 0x200000d8   Data           4  stdout.o(.data)
+    carPositionTracker                       0x200000dc   Data          24  main.o(.bss)
+    carMotor                                 0x200000f4   Data          28  main.o(.bss)
+    __initial_sp                             0x200047d8   Data           0  stm32f10x.o(STACK)
+
+
+
+==============================================================================
+
+Memory Map of the image
+
+  Image Entry point : 0x080000ed
+
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00004460, Max: 0x00020000, ABSOLUTE)
+
+    Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x00004384, Max: 0x00020000, ABSOLUTE)
+
+    Base Addr    Size         Type   Attr      Idx    E Section Name        Object
+
+    0x08000000   0x000000ec   Data   RO            3    RESET               stm32f10x.o
+    0x080000ec   0x00000000   Code   RO          446  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
+    0x080000ec   0x00000004   Code   RO          732    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
+    0x080000f0   0x00000004   Code   RO          735    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
+    0x080000f4   0x00000000   Code   RO          737    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
+    0x080000f4   0x00000000   Code   RO          739    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
+    0x080000f4   0x00000008   Code   RO          740    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
+    0x080000fc   0x00000000   Code   RO          742    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
+    0x080000fc   0x00000000   Code   RO          744    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
+    0x080000fc   0x00000004   Code   RO          733    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
+    0x08000100   0x00000088   Code   RO          368    .emb_text           port.o
+    0x08000188   0x0000001c   Code   RO            4    .text               stm32f10x.o
+    0x080001a4   0x000002e0   Code   RO           10    .text               stm32f10x_gpio.o
+    0x08000484   0x000003e0   Code   RO           68    .text               stm32f10x_nvic.o
+    0x08000864   0x0000037c   Code   RO           80    .text               stm32f10x_rcc.o
+    0x08000be0   0x000000c4   Code   RO          106    .text               stm32f10x_systick.o
+    0x08000ca4   0x00000864   Code   RO          118    .text               stm32f10x_tim.o
+    0x08001508   0x00000324   Code   RO          135    .text               stm32f10x_usart.o
+    0x0800182c   0x0000006e   Code   RO          147    .text               cortexm3_macro_rvds.o
+    0x0800189a   0x00000002   PAD
+    0x0800189c   0x00000174   Code   RO          150    .text               main.o
+    0x08001a10   0x000000b8   Code   RO          230    .text               setup.o
+    0x08001ac8   0x000000e0   Code   RO          250    .text               pin_listener.o
+    0x08001ba8   0x0000013c   Code   RO          275    .text               position_tracker.o
+    0x08001ce4   0x0000027c   Code   RO          287    .text               motor.o
+    0x08001f60   0x00000440   Code   RO          303    .text               planner.o
+    0x080023a0   0x00000510   Code   RO          318    .text               safety.o
+    0x080028b0   0x00000118   Code   RO          335    .text               heap_2.o
+    0x080029c8   0x00000094   Code   RO          356    .text               list.o
+    0x08002a5c   0x000000b4   Code   RO          369    .text               port.o
+    0x08002b10   0x000004c4   Code   RO          386    .text               queue.o
+    0x08002fd4   0x00000a78   Code   RO          404    .text               tasks.o
+    0x08003a4c   0x000001d4   Code   RO          432    .text               serial.o
+    0x08003c20   0x00000024   Code   RO          449    .text               mc_w.l(memcpya.o)
+    0x08003c44   0x00000024   Code   RO          451    .text               mc_w.l(memseta.o)
+    0x08003c68   0x00000018   Code   RO          453    .text               mc_w.l(strncpy.o)
+    0x08003c80   0x0000014e   Code   RO          718    .text               mf_w.l(dadd.o)
+    0x08003dce   0x000000de   Code   RO          720    .text               mf_w.l(ddiv.o)
+    0x08003eac   0x0000000a   Code   RO          722    .text               mf_w.l(ffltui.o)
+    0x08003eb6   0x00000022   Code   RO          724    .text               mf_w.l(dflti.o)
+    0x08003ed8   0x0000003e   Code   RO          726    .text               mf_w.l(dfixi.o)
+    0x08003f16   0x00000026   Code   RO          728    .text               mf_w.l(f2d.o)
+    0x08003f3c   0x00000030   Code   RO          730    .text               mf_w.l(cdcmple.o)
+    0x08003f6c   0x0000002c   Code   RO          747    .text               mc_w.l(uidiv.o)
+    0x08003f98   0x0000001e   Code   RO          751    .text               mc_w.l(llshl.o)
+    0x08003fb6   0x00000020   Code   RO          753    .text               mc_w.l(llushr.o)
+    0x08003fd6   0x00000024   Code   RO          755    .text               mc_w.l(llsshr.o)
+    0x08003ffa   0x00000000   Code   RO          757    .text               mc_w.l(iusefp.o)
+    0x08003ffa   0x0000006e   Code   RO          758    .text               mf_w.l(fepilogue.o)
+    0x08004068   0x000000ba   Code   RO          760    .text               mf_w.l(depilogue.o)
+    0x08004122   0x00000002   PAD
+    0x08004124   0x00000024   Code   RO          768    .text               mc_w.l(init.o)
+    0x08004148   0x00000020   Code   RO          546    i.__0printf$3       mc_w.l(printf3.o)
+    0x08004168   0x0000000e   Code   RO          772    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x08004176   0x00000002   Code   RO          773    i.__scatterload_null  mc_w.l(handlers.o)
+    0x08004178   0x0000000e   Code   RO          774    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x08004186   0x00000002   PAD
+    0x08004188   0x000001b8   Code   RO          553    i._printf_core      mc_w.l(printf3.o)
+    0x08004340   0x00000014   Data   RO           81    .constdata          stm32f10x_rcc.o
+    0x08004354   0x00000010   Data   RO          119    .constdata          stm32f10x_tim.o
+    0x08004364   0x00000020   Data   RO          770    Region$$Table       anon$$obj.o
+
+
+    Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x000047d8, Max: 0x00005000, ABSOLUTE)
+
+    Base Addr    Size         Type   Attr      Idx    E Section Name        Object
+
+    0x20000000   0x00000060   Data   RW          152    .data               main.o
+    0x20000060   0x00000004   Data   RW          231    .data               setup.o
+    0x20000064   0x00000004   Data   RW          251    .data               pin_listener.o
+    0x20000068   0x00000010   Data   RW          304    .data               planner.o
+    0x20000078   0x00000004   Data   RW          319    .data               safety.o
+    0x2000007c   0x00000018   Data   RW          337    .data               heap_2.o
+    0x20000094   0x00000004   Data   RW          370    .data               port.o
+    0x20000098   0x00000038   Data   RW          406    .data               tasks.o
+    0x200000d0   0x00000008   Data   RW          433    .data               serial.o
+    0x200000d8   0x00000004   Data   RW          746    .data               mc_w.l(stdout.o)
+    0x200000dc   0x00000034   Zero   RW          151    .bss                main.o
+    0x20000110   0x00004400   Zero   RW          336    .bss                heap_2.o
+    0x20004510   0x000000c8   Zero   RW          405    .bss                tasks.o
+    0x200045d8   0x00000200   Zero   RW            1    STACK               stm32f10x.o
+
+
+==============================================================================
+
+Image component sizes
+
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
+
+       110          0          0          0          0        396   cortexm3_macro_rvds.o
+       280         22          0         24      17408       4876   heap_2.o
+       148          0          0          0          0       1809   list.o
+       372         82          0         96         52      14946   main.o
+       636         20          0          0          0       3247   motor.o
+       224         38          0          4          0       2927   pin_listener.o
+      1088        560          0         16          0       2149   planner.o
+       316         26          0          4          0       2501   port.o
+       316         70          0          0          0       1896   position_tracker.o
+      1220          0          0          0          0       6923   queue.o
+      1296        188          0          4          0       2954   safety.o
+       468         16          0          8          0       2431   serial.o
+       184          8          0          4          0       1781   setup.o
+        28          4        236          0        512        804   stm32f10x.o
+       736         16          0          0          0      27739   stm32f10x_gpio.o
+         0          0          0          0          0      11168   stm32f10x_lib.o
+       992         30          0          0          0       7168   stm32f10x_nvic.o
+       892         38         20          0          0       8338   stm32f10x_rcc.o
+       196          0          0          0          0       1605   stm32f10x_systick.o
+      2148         12         16          0          0      31044   stm32f10x_tim.o
+       804         10          0          0          0       7161   stm32f10x_usart.o
+      2680        190          0         56        200      12001   tasks.o
+
+    ----------------------------------------------------------------------
+     15136       1330        304        216      18172     155864   Object Totals
+         0          0         32          0          0          0   (incl. Generated)
+         2          0          0          0          0          0   (incl. Padding)
+
+    ----------------------------------------------------------------------
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Member Name
+
+         0          0          0          0          0          0   entry.o
+         0          0          0          0          0          0   entry10a.o
+         0          0          0          0          0          0   entry11a.o
+         8          4          0          0          0          0   entry2.o
+         4          0          0          0          0          0   entry5.o
+         0          0          0          0          0          0   entry7b.o
+         0          0          0          0          0          0   entry8b.o
+         8          4          0          0          0          0   entry9a.o
+        30          0          0          0          0          0   handlers.o
+        36          8          0          0          0         68   init.o
+         0          0          0          0          0          0   iusefp.o
+        30          0          0          0          0         68   llshl.o
+        36          0          0          0          0         68   llsshr.o
+        32          0          0          0          0         68   llushr.o
+        36          0          0          0          0         68   memcpya.o
+        36          0          0          0          0        108   memseta.o
+       472         14          0          0          0        184   printf3.o
+         0          0          0          4          0          0   stdout.o
+        24          0          0          0          0         76   strncpy.o
+        44          0          0          0          0         80   uidiv.o
+        48          0          0          0          0         68   cdcmple.o
+       334          0          0          0          0        148   dadd.o
+       222          0          0          0          0        100   ddiv.o
+       186          0          0          0          0        176   depilogue.o
+        62          0          0          0          0         80   dfixi.o
+        34          0          0          0          0         76   dflti.o
+        38          0          0          0          0         68   f2d.o
+       110          0          0          0          0        168   fepilogue.o
+        10          0          0          0          0         68   ffltui.o
+
+    ----------------------------------------------------------------------
+      1844         30          0          4          0       1740   Library Totals
+         4          0          0          0          0          0   (incl. Padding)
+
+    ----------------------------------------------------------------------
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Name
+
+       796         30          0          4          0        788   mc_w.l
+      1044          0          0          0          0        952   mf_w.l
+
+    ----------------------------------------------------------------------
+      1844         30          0          4          0       1740   Library Totals
+
+    ----------------------------------------------------------------------
+
+==============================================================================
+
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
+
+     16980       1360        304        220      18172     154688   Grand Totals
+     16980       1360        304        220      18172     154688   ELF Image Totals
+     16980       1360        304        220          0          0   ROM Totals
+
+==============================================================================
+
+    Total RO  Size (Code + RO Data)                17284 (  16.88kB)
+    Total RW  Size (RW Data + ZI Data)             18392 (  17.96kB)
+    Total ROM Size (Code + RO Data + RW Data)      17504 (  17.09kB)
+
+==============================================================================
+
diff --git a/stm32_exec.plg b/stm32_exec.plg
new file mode 100644
index 0000000..8a55acd
--- /dev/null
+++ b/stm32_exec.plg
@@ -0,0 +1,51 @@
+<html>
+<body>
+<pre>
+<h1>µVision Build Log</h1>
+<h2>Project:</h2>
+Y:\tmp\newbeans\programming-embedded-systems\trunk\labs\01 - elevator\reduced_impl\lab_env.uvproj
+Project File Date:  08/13/2011
+
+<h2>Output:</h2>
+Build target 'Target 1'
+assembling STM32F10x.s...
+compiling stm32f10x_gpio.c...
+compiling stm32f10x_lib.c...
+compiling stm32f10x_nvic.c...
+compiling stm32f10x_rcc.c...
+compiling stm32f10x_spi.c...
+compiling stm32f10x_systick.c...
+compiling stm32f10x_tim.c...
+compiling stm32f10x_usart.c...
+assembling cortexm3_macro_rvds.s...
+compiling main.c...
+compiling setup.c...
+compiling pin_listener.c...
+compiling position_tracker.c...
+compiling motor.c...
+compiling planner.c...
+compiling safety.c...
+safety.c(37): error:  #20: identifier "xLastWakeTime" is undefined
+compiling heap_2.c...
+compiling list.c...
+compiling port.c...
+compiling queue.c...
+compiling tasks.c...
+compiling serial.c...
+Target not created
+Build target 'Target 1'
+compiling safety.c...
+linking...
+Program Size: Code=13732 RO-data=304 RW-data=200 ZI-data=18176  
+"stm32_exec.axf" - 0 Error(s), 0 Warning(s).
+Build target 'Target 1'
+compiling safety.c...
+linking...
+Program Size: Code=13812 RO-data=304 RW-data=200 ZI-data=18176  
+"stm32_exec.axf" - 0 Error(s), 0 Warning(s).
+Build target 'Target 1'
+linking...
+Program Size: Code=13812 RO-data=304 RW-data=200 ZI-data=18176  
+"stm32_exec.axf" - 0 Error(s), 0 Warning(s).
+Clean started: Project: 'lab_env'
+   deleting intermediate output files for target 'Target 1'
diff --git a/stm32_exec.sct b/stm32_exec.sct
new file mode 100644
index 0000000..f67cd68
--- /dev/null
+++ b/stm32_exec.sct
@@ -0,0 +1,15 @@
+; *************************************************************
+; *** Scatter-Loading Description File generated by uVision ***
+; *************************************************************
+
+LR_IROM1 0x08000000 0x00020000  {    ; load region size_region
+  ER_IROM1 0x08000000 0x00020000  {  ; load address = execution address
+   *.o (RESET, +First)
+   *(InRoot$$Sections)
+   .ANY (+RO)
+  }
+  RW_IRAM1 0x20000000 0x00005000  {  ; RW data
+   .ANY (+RW +ZI)
+  }
+}
+
diff --git a/stm32_exec.tra b/stm32_exec.tra
new file mode 100644
index 0000000..aa82451
--- /dev/null
+++ b/stm32_exec.tra
@@ -0,0 +1,41 @@
+*** Creating Trace Output File 'stm32_exec.tra' Ok.
+### Preparing for ADS-LD.
+### Creating ADS-LD Command Line
+### List of Objects: adding '"stm32f10x.o"'
+### List of Objects: adding '"stm32f10x_gpio.o"'
+### List of Objects: adding '"stm32f10x_lib.o"'
+### List of Objects: adding '"stm32f10x_nvic.o"'
+### List of Objects: adding '"stm32f10x_rcc.o"'
+### List of Objects: adding '"stm32f10x_spi.o"'
+### List of Objects: adding '"stm32f10x_systick.o"'
+### List of Objects: adding '"stm32f10x_tim.o"'
+### List of Objects: adding '"stm32f10x_usart.o"'
+### List of Objects: adding '"cortexm3_macro_rvds.o"'
+### List of Objects: adding '"main.o"'
+### List of Objects: adding '"setup.o"'
+### List of Objects: adding '"pin_listener.o"'
+### List of Objects: adding '"position_tracker.o"'
+### List of Objects: adding '"motor.o"'
+### List of Objects: adding '"planner.o"'
+### List of Objects: adding '"safety.o"'
+### List of Objects: adding '"heap_2.o"'
+### List of Objects: adding '"list.o"'
+### List of Objects: adding '"port.o"'
+### List of Objects: adding '"queue.o"'
+### List of Objects: adding '"tasks.o"'
+### List of Objects: adding '"serial.o"'
+### ADS-LD Command completed:
+--cpu Cortex-M3 "stm32f10x.o" "stm32f10x_gpio.o" "stm32f10x_lib.o" "stm32f10x_nvic.o" "stm32f10x_rcc.o" "stm32f10x_spi.o" "stm32f10x_systick.o" "stm32f10x_tim.o" "stm32f10x_usart.o" "cortexm3_macro_rvds.o" "main.o" "setup.o" "pin_listener.o" "position_tracker.o" "motor.o" "planner.o" "safety.o" "heap_2.o" "list.o" "port.o" "queue.o" "tasks.o" "serial.o" --library_type=microlib --strict --scatter "stm32_exec.sct" 

+--autoat --summary_stderr --info summarysizes --map --xref --callgraph --symbols 

+--info sizes --info totals --info unused --info veneers 

+ --list ".\stm32_exec.map" -o "stm32_exec.axf"### Preparing Environment (PrepEnvAds)
+### ADS-LD Output File: 'stm32_exec.axf'
+### ADS-LD Command File: 'stm32_exec.lnp'
+### Checking for dirty Components...
+### Creating CmdFile 'stm32_exec.lnp', Handle=0x00000100
+### Writing '.lnp' file
+### ADS-LD Command file 'stm32_exec.lnp' is ready.
+### ADS-LD: About to start ADS-LD Thread.
+### ADS-LD: executed with 0 errors
+### Updating obj list
+### LDADS_file() completed.
diff --git a/stm32f10x.d b/stm32f10x.d
new file mode 100644
index 0000000..45d8065
--- /dev/null
+++ b/stm32f10x.d
@@ -0,0 +1 @@
+.\stm32f10x.o: STM32F10x.s
diff --git a/stm32f10x.lst b/stm32f10x.lst
new file mode 100644
index 0000000..bd3609c
--- /dev/null
+++ b/stm32f10x.lst
@@ -0,0 +1,1163 @@
+
+
+
+ARM Macro Assembler    Page 1 
+
+
+    1 00000000         ;/******************************************************
+                       ***********************/
+    2 00000000         ;/* STM32F10x.s: Startup file for ST STM32F10x device se
+                       ries                  */
+    3 00000000         ;/******************************************************
+                       ***********************/
+    4 00000000         ;/* <<< Use Configuration Wizard in Context Menu >>>    
+                                             */
+    5 00000000         ;/******************************************************
+                       ***********************/
+    6 00000000         ;/* This file is part of the uVision/ARM development too
+                       ls.                   */
+    7 00000000         ;/* Copyright (c) 2005-2007 Keil Software. All rights re
+                       served.               */
+    8 00000000         ;/* This software may only be used under the terms of a 
+                       valid, current,       */
+    9 00000000         ;/* end user licence from KEIL for a compatible version 
+                       of KEIL software      */
+   10 00000000         ;/* development tools. Nothing else gives you the right 
+                       to use this software. */
+   11 00000000         ;/******************************************************
+                       ***********************/
+   12 00000000         
+   13 00000000         
+   14 00000000         ;// <h> Stack Configuration
+   15 00000000         ;//   <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
+   16 00000000         ;// </h>
+   17 00000000         
+   18 00000000 00000200 
+                       Stack_Size
+                               EQU              0x00000200
+   19 00000000         
+   20 00000000                 AREA             STACK, NOINIT, READWRITE, ALIGN
+=3
+   21 00000000         Stack_Mem
+                               SPACE            Stack_Size
+   22 00000200         __initial_sp
+   23 00000200         
+   24 00000200         
+   25 00000200         ;// <h> Heap Configuration
+   26 00000200         ;//   <o>  Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
+   27 00000200         ;// </h>
+   28 00000200         
+   29 00000200 00000000 
+                       Heap_Size
+                               EQU              0x00000000
+   30 00000200         
+   31 00000200                 AREA             HEAP, NOINIT, READWRITE, ALIGN=
+3
+   32 00000000         __heap_base
+   33 00000000         Heap_Mem
+                               SPACE            Heap_Size
+   34 00000000         __heap_limit
+   35 00000000         
+   36 00000000                 IMPORT           xPortPendSVHandler
+   37 00000000                 IMPORT           xPortSysTickHandler
+   38 00000000                 IMPORT           vPortSVCHandler
+   39 00000000                 IMPORT           vUARTInterruptHandler
+   40 00000000         ;    IMPORT vTimer2IntHandler
+
+
+
+ARM Macro Assembler    Page 2 
+
+
+   41 00000000         
+   42 00000000                 PRESERVE8
+   43 00000000                 THUMB
+   44 00000000         
+   45 00000000         
+   46 00000000         ; Vector Table Mapped to Address 0 at Reset
+   47 00000000         
+   48 00000000                 AREA             RESET, DATA, READONLY
+   49 00000000                 EXPORT           __Vectors
+   50 00000000         
+   51 00000000 00000000 
+                       __Vectors
+                               DCD              __initial_sp ; Top of Stack
+   52 00000004 00000000        DCD              Reset_Handler ; Reset Handler
+   53 00000008 00000000        DCD              NMI_Handler ; NMI Handler
+   54 0000000C 00000000        DCD              HardFault_Handler ; Hard Fault 
+                                                            Handler
+   55 00000010 00000000        DCD              MemManage_Handler 
+                                                            ; MPU Fault Handler
+                                                            
+   56 00000014 00000000        DCD              BusFault_Handler 
+                                                            ; Bus Fault Handler
+                                                            
+   57 00000018 00000000        DCD              UsageFault_Handler ; Usage Faul
+                                                            t Handler
+   58 0000001C 00000000        DCD              0           ; Reserved
+   59 00000020 00000000        DCD              0           ; Reserved
+   60 00000024 00000000        DCD              0           ; Reserved
+   61 00000028 00000000        DCD              0           ; Reserved
+   62 0000002C 00000000        DCD              vPortSVCHandler 
+                                                            ; SVCall Handler
+   63 00000030 00000000        DCD              DebugMon_Handler ; Debug Monito
+                                                            r Handler
+   64 00000034 00000000        DCD              0           ; Reserved
+   65 00000038 00000000        DCD              xPortPendSVHandler 
+                                                            ; PendSV Handler
+   66 0000003C 00000000        DCD              xPortSysTickHandler 
+                                                            ; SysTick Handler
+   67 00000040         
+   68 00000040         ; External Interrupts
+   69 00000040 00000000        DCD              WWDG_IRQHandler 
+                                                            ; Window Watchdog
+   70 00000044 00000000        DCD              PVD_IRQHandler ; PVD through EX
+                                                            TI Line detect
+   71 00000048 00000000        DCD              TAMPER_IRQHandler ; Tamper
+   72 0000004C 00000000        DCD              RTC_IRQHandler ; RTC
+   73 00000050 00000000        DCD              FLASH_IRQHandler ; Flash
+   74 00000054 00000000        DCD              RCC_IRQHandler ; RCC
+   75 00000058 00000000        DCD              EXTI0_IRQHandler ; EXTI Line 0
+   76 0000005C 00000000        DCD              EXTI1_IRQHandler ; EXTI Line 1
+   77 00000060 00000000        DCD              EXTI2_IRQHandler ; EXTI Line 2
+   78 00000064 00000000        DCD              EXTI3_IRQHandler ; EXTI Line 3
+   79 00000068 00000000        DCD              EXTI4_IRQHandler ; EXTI Line 4
+   80 0000006C 00000000        DCD              DMAChannel1_IRQHandler 
+                                                            ; DMA Channel 1
+   81 00000070 00000000        DCD              DMAChannel2_IRQHandler 
+                                                            ; DMA Channel 2
+   82 00000074 00000000        DCD              DMAChannel3_IRQHandler 
+                                                            ; DMA Channel 3
+
+
+
+ARM Macro Assembler    Page 3 
+
+
+   83 00000078 00000000        DCD              DMAChannel4_IRQHandler 
+                                                            ; DMA Channel 4
+   84 0000007C 00000000        DCD              DMAChannel5_IRQHandler 
+                                                            ; DMA Channel 5
+   85 00000080 00000000        DCD              DMAChannel6_IRQHandler 
+                                                            ; DMA Channel 6
+   86 00000084 00000000        DCD              DMAChannel7_IRQHandler 
+                                                            ; DMA Channel 7
+   87 00000088 00000000        DCD              ADC_IRQHandler ; ADC
+   88 0000008C 00000000        DCD              USB_HP_CAN_TX_IRQHandler ; USB 
+                                                            High Priority or CA
+                                                            N TX
+   89 00000090 00000000        DCD              USB_LP_CAN_RX0_IRQHandler ; USB
+                                                             Low  Priority or C
+                                                            AN RX0
+   90 00000094 00000000        DCD              CAN_RX1_IRQHandler ; CAN RX1
+   91 00000098 00000000        DCD              CAN_SCE_IRQHandler ; CAN SCE
+   92 0000009C 00000000        DCD              EXTI9_5_IRQHandler 
+                                                            ; EXTI Line 9..5
+   93 000000A0 00000000        DCD              TIM1_BRK_IRQHandler 
+                                                            ; TIM1 Break
+   94 000000A4 00000000        DCD              TIM1_UP_IRQHandler 
+                                                            ; TIM1 Update
+   95 000000A8 00000000        DCD              TIM1_TRG_COM_IRQHandler ; TIM1 
+                                                            Trigger and Commuta
+                                                            tion
+   96 000000AC 00000000        DCD              TIM1_CC_IRQHandler ; TIM1 Captu
+                                                            re Compare
+   97 000000B0 00000000        DCD              TIM2_IRQHandler ; TIM2
+   98 000000B4 00000000        DCD              TIM3_IRQHandler ; TIM3
+   99 000000B8 00000000        DCD              TIM4_IRQHandler ; TIM4
+  100 000000BC 00000000        DCD              I2C1_EV_IRQHandler ; I2C1 Event
+                                                            
+  101 000000C0 00000000        DCD              I2C1_ER_IRQHandler ; I2C1 Error
+                                                            
+  102 000000C4 00000000        DCD              I2C2_EV_IRQHandler ; I2C2 Event
+                                                            
+  103 000000C8 00000000        DCD              I2C2_ER_IRQHandler ; I2C2 Error
+                                                            
+  104 000000CC 00000000        DCD              SPI1_IRQHandler ; SPI1
+  105 000000D0 00000000        DCD              SPI2_IRQHandler ; SPI2
+  106 000000D4 00000000        DCD              vUARTInterruptHandler ; USART1
+  107 000000D8 00000000        DCD              USART2_IRQHandler ; USART2
+  108 000000DC 00000000        DCD              USART3_IRQHandler ; USART3
+  109 000000E0 00000000        DCD              EXTI15_10_IRQHandler 
+                                                            ; EXTI Line 15..10
+  110 000000E4 00000000        DCD              RTCAlarm_IRQHandler ; RTC Alarm
+                                                             through EXTI Line
+  111 000000E8 00000000        DCD              USBWakeUp_IRQHandler ; USB Wake
+                                                            up from suspend
+  112 000000EC         
+  113 000000EC         
+  114 000000EC                 AREA             |.text|, CODE, READONLY
+  115 00000000         
+  116 00000000         
+  117 00000000         ; Reset Handler
+  118 00000000         
+  119 00000000         Reset_Handler
+                               PROC
+
+
+
+ARM Macro Assembler    Page 4 
+
+
+  120 00000000                 EXPORT           Reset_Handler             [WEAK
+]
+  121 00000000                 IMPORT           __main
+  122 00000000 4805    S       LDR              R0, =__main
+  123 00000002 4700            BX               R0
+  124 00000004                 ENDP
+  125 00000004         
+  126 00000004         
+  127 00000004         ; Dummy Exception Handlers (infinite loops which can be 
+                       modified)                
+  128 00000004         
+  129 00000004         NMI_Handler
+                               PROC
+  130 00000004                 EXPORT           NMI_Handler               [WEAK
+]
+  131 00000004 E7FE            B                .
+  132 00000006                 ENDP
+  134 00000006         HardFault_Handler
+                               PROC
+  135 00000006                 EXPORT           HardFault_Handler         [WEAK
+]
+  136 00000006 E7FE            B                .
+  137 00000008                 ENDP
+  139 00000008         MemManage_Handler
+                               PROC
+  140 00000008                 EXPORT           MemManage_Handler         [WEAK
+]
+  141 00000008 E7FE            B                .
+  142 0000000A                 ENDP
+  144 0000000A         BusFault_Handler
+                               PROC
+  145 0000000A                 EXPORT           BusFault_Handler          [WEAK
+]
+  146 0000000A E7FE            B                .
+  147 0000000C                 ENDP
+  149 0000000C         UsageFault_Handler
+                               PROC
+  150 0000000C                 EXPORT           UsageFault_Handler        [WEAK
+]
+  151 0000000C E7FE            B                .
+  152 0000000E                 ENDP
+  153 0000000E         SVC_Handler
+                               PROC
+  154 0000000E                 EXPORT           SVC_Handler               [WEAK
+]
+  155 0000000E E7FE            B                .
+  156 00000010                 ENDP
+  158 00000010         DebugMon_Handler
+                               PROC
+  159 00000010                 EXPORT           DebugMon_Handler          [WEAK
+]
+  160 00000010 E7FE            B                .
+  161 00000012                 ENDP
+  162 00000012         PendSV_Handler
+                               PROC
+  163 00000012                 EXPORT           PendSV_Handler            [WEAK
+]
+  164 00000012 E7FE            B                .
+  165 00000014                 ENDP
+
+
+
+ARM Macro Assembler    Page 5 
+
+
+  166 00000014         SysTick_Handler
+                               PROC
+  167 00000014                 EXPORT           SysTick_Handler           [WEAK
+]
+  168 00000014 E7FE            B                .
+  169 00000016                 ENDP
+  170 00000016         
+  171 00000016         Default_Handler
+                               PROC
+  172 00000016         
+  173 00000016                 EXPORT           WWDG_IRQHandler           [WEAK
+]
+  174 00000016                 EXPORT           PVD_IRQHandler            [WEAK
+]
+  175 00000016                 EXPORT           TAMPER_IRQHandler         [WEAK
+]
+  176 00000016                 EXPORT           RTC_IRQHandler            [WEAK
+]
+  177 00000016                 EXPORT           FLASH_IRQHandler          [WEAK
+]
+  178 00000016                 EXPORT           RCC_IRQHandler            [WEAK
+]
+  179 00000016                 EXPORT           EXTI0_IRQHandler          [WEAK
+]
+  180 00000016                 EXPORT           EXTI1_IRQHandler          [WEAK
+]
+  181 00000016                 EXPORT           EXTI2_IRQHandler          [WEAK
+]
+  182 00000016                 EXPORT           EXTI3_IRQHandler          [WEAK
+]
+  183 00000016                 EXPORT           EXTI4_IRQHandler          [WEAK
+]
+  184 00000016                 EXPORT           DMAChannel1_IRQHandler    [WEAK
+]
+  185 00000016                 EXPORT           DMAChannel2_IRQHandler    [WEAK
+]
+  186 00000016                 EXPORT           DMAChannel3_IRQHandler    [WEAK
+]
+  187 00000016                 EXPORT           DMAChannel4_IRQHandler    [WEAK
+]
+  188 00000016                 EXPORT           DMAChannel5_IRQHandler    [WEAK
+]
+  189 00000016                 EXPORT           DMAChannel6_IRQHandler    [WEAK
+]
+  190 00000016                 EXPORT           DMAChannel7_IRQHandler    [WEAK
+]
+  191 00000016                 EXPORT           ADC_IRQHandler            [WEAK
+]
+  192 00000016                 EXPORT           USB_HP_CAN_TX_IRQHandler  [WEAK
+]
+  193 00000016                 EXPORT           USB_LP_CAN_RX0_IRQHandler [WEAK
+]
+  194 00000016                 EXPORT           CAN_RX1_IRQHandler        [WEAK
+]
+  195 00000016                 EXPORT           CAN_SCE_IRQHandler        [WEAK
+]
+  196 00000016                 EXPORT           EXTI9_5_IRQHandler        [WEAK
+]
+  197 00000016                 EXPORT           TIM1_BRK_IRQHandler       [WEAK
+
+
+
+ARM Macro Assembler    Page 6 
+
+
+]
+  198 00000016                 EXPORT           TIM1_UP_IRQHandler        [WEAK
+]
+  199 00000016                 EXPORT           TIM1_TRG_COM_IRQHandler   [WEAK
+]
+  200 00000016                 EXPORT           TIM1_CC_IRQHandler        [WEAK
+]
+  201 00000016                 EXPORT           TIM2_IRQHandler           [WEAK
+]
+  202 00000016                 EXPORT           TIM3_IRQHandler           [WEAK
+]
+  203 00000016                 EXPORT           TIM4_IRQHandler           [WEAK
+]
+  204 00000016                 EXPORT           I2C1_EV_IRQHandler        [WEAK
+]
+  205 00000016                 EXPORT           I2C1_ER_IRQHandler        [WEAK
+]
+  206 00000016                 EXPORT           I2C2_EV_IRQHandler        [WEAK
+]
+  207 00000016                 EXPORT           I2C2_ER_IRQHandler        [WEAK
+]
+  208 00000016                 EXPORT           SPI1_IRQHandler           [WEAK
+]
+  209 00000016                 EXPORT           SPI2_IRQHandler           [WEAK
+]
+  210 00000016                 EXPORT           USART1_IRQHandler         [WEAK
+]
+  211 00000016                 EXPORT           USART2_IRQHandler         [WEAK
+]
+  212 00000016                 EXPORT           USART3_IRQHandler         [WEAK
+]
+  213 00000016                 EXPORT           EXTI15_10_IRQHandler      [WEAK
+]
+  214 00000016                 EXPORT           RTCAlarm_IRQHandler       [WEAK
+]
+  215 00000016                 EXPORT           USBWakeUp_IRQHandler      [WEAK
+]
+  216 00000016         
+  217 00000016         WWDG_IRQHandler
+  218 00000016         PVD_IRQHandler
+  219 00000016         TAMPER_IRQHandler
+  220 00000016         RTC_IRQHandler
+  221 00000016         FLASH_IRQHandler
+  222 00000016         RCC_IRQHandler
+  223 00000016         EXTI0_IRQHandler
+  224 00000016         EXTI1_IRQHandler
+  225 00000016         EXTI2_IRQHandler
+  226 00000016         EXTI3_IRQHandler
+  227 00000016         EXTI4_IRQHandler
+  228 00000016         DMAChannel1_IRQHandler
+  229 00000016         DMAChannel2_IRQHandler
+  230 00000016         DMAChannel3_IRQHandler
+  231 00000016         DMAChannel4_IRQHandler
+  232 00000016         DMAChannel5_IRQHandler
+  233 00000016         DMAChannel6_IRQHandler
+  234 00000016         DMAChannel7_IRQHandler
+  235 00000016         ADC_IRQHandler
+  236 00000016         USB_HP_CAN_TX_IRQHandler
+  237 00000016         USB_LP_CAN_RX0_IRQHandler
+
+
+
+ARM Macro Assembler    Page 7 
+
+
+  238 00000016         CAN_RX1_IRQHandler
+  239 00000016         CAN_SCE_IRQHandler
+  240 00000016         EXTI9_5_IRQHandler
+  241 00000016         TIM1_BRK_IRQHandler
+  242 00000016         TIM1_UP_IRQHandler
+  243 00000016         TIM1_TRG_COM_IRQHandler
+  244 00000016         TIM1_CC_IRQHandler
+  245 00000016         TIM2_IRQHandler
+  246 00000016         TIM3_IRQHandler
+  247 00000016         TIM4_IRQHandler
+  248 00000016         I2C1_EV_IRQHandler
+  249 00000016         I2C1_ER_IRQHandler
+  250 00000016         I2C2_EV_IRQHandler
+  251 00000016         I2C2_ER_IRQHandler
+  252 00000016         SPI1_IRQHandler
+  253 00000016         SPI2_IRQHandler
+  254 00000016         USART1_IRQHandler
+  255 00000016         USART2_IRQHandler
+  256 00000016         USART3_IRQHandler
+  257 00000016         EXTI15_10_IRQHandler
+  258 00000016         RTCAlarm_IRQHandler
+  259 00000016         USBWakeUp_IRQHandler
+  260 00000016         
+  261 00000016 E7FE            B                .
+  262 00000018         
+  263 00000018                 ENDP
+  264 00000018         
+  265 00000018         
+  266 00000018                 ALIGN
+  267 00000018         
+  268 00000018         
+  269 00000018         ; User Initial Stack & Heap
+  270 00000018         
+  271 00000018                 IF               :DEF:__MICROLIB
+  272 00000018         
+  273 00000018                 EXPORT           __initial_sp
+  274 00000018                 EXPORT           __heap_base
+  275 00000018                 EXPORT           __heap_limit
+  276 00000018         
+  277 00000018                 ELSE
+  291                          ENDIF
+  292 00000018         
+  293 00000018         
+  294 00000018                 END
+              00000000 
+Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\stm32f
+10x.d -o.\stm32f10x.o -IC:\Keil_v5\ARM\RV31\INC -IC:\Keil_v5\ARM\CMSIS\Include 
+-IC:\Keil_v5\ARM\Inc\ST\STM32F10x --predefine="__EVAL SETA 1" --predefine="__MI
+CROLIB SETA 1" --predefine="__UVISION_VERSION SETA 513" --list=.\stm32f10x.lst 
+STM32F10x.s
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+Relocatable symbols
+
+STACK 00000000
+
+Symbol: STACK
+   Definitions
+      At line 20 in file STM32F10x.s
+   Uses
+      None
+Comment: STACK unused
+Stack_Mem 00000000
+
+Symbol: Stack_Mem
+   Definitions
+      At line 21 in file STM32F10x.s
+   Uses
+      None
+Comment: Stack_Mem unused
+__initial_sp 00000200
+
+Symbol: __initial_sp
+   Definitions
+      At line 22 in file STM32F10x.s
+   Uses
+      At line 51 in file STM32F10x.s
+      At line 273 in file STM32F10x.s
+
+3 symbols
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+Relocatable symbols
+
+HEAP 00000000
+
+Symbol: HEAP
+   Definitions
+      At line 31 in file STM32F10x.s
+   Uses
+      None
+Comment: HEAP unused
+Heap_Mem 00000000
+
+Symbol: Heap_Mem
+   Definitions
+      At line 33 in file STM32F10x.s
+   Uses
+      None
+Comment: Heap_Mem unused
+__heap_base 00000000
+
+Symbol: __heap_base
+   Definitions
+      At line 32 in file STM32F10x.s
+   Uses
+      At line 274 in file STM32F10x.s
+Comment: __heap_base used once
+__heap_limit 00000000
+
+Symbol: __heap_limit
+   Definitions
+      At line 34 in file STM32F10x.s
+   Uses
+      At line 275 in file STM32F10x.s
+Comment: __heap_limit used once
+4 symbols
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+Relocatable symbols
+
+RESET 00000000
+
+Symbol: RESET
+   Definitions
+      At line 48 in file STM32F10x.s
+   Uses
+      None
+Comment: RESET unused
+__Vectors 00000000
+
+Symbol: __Vectors
+   Definitions
+      At line 51 in file STM32F10x.s
+   Uses
+      At line 49 in file STM32F10x.s
+Comment: __Vectors used once
+2 symbols
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+Relocatable symbols
+
+.text 00000000
+
+Symbol: .text
+   Definitions
+      At line 114 in file STM32F10x.s
+   Uses
+      None
+Comment: .text unused
+ADC_IRQHandler 00000016
+
+Symbol: ADC_IRQHandler
+   Definitions
+      At line 235 in file STM32F10x.s
+   Uses
+      At line 87 in file STM32F10x.s
+      At line 191 in file STM32F10x.s
+
+BusFault_Handler 0000000A
+
+Symbol: BusFault_Handler
+   Definitions
+      At line 144 in file STM32F10x.s
+   Uses
+      At line 56 in file STM32F10x.s
+      At line 145 in file STM32F10x.s
+
+CAN_RX1_IRQHandler 00000016
+
+Symbol: CAN_RX1_IRQHandler
+   Definitions
+      At line 238 in file STM32F10x.s
+   Uses
+      At line 90 in file STM32F10x.s
+      At line 194 in file STM32F10x.s
+
+CAN_SCE_IRQHandler 00000016
+
+Symbol: CAN_SCE_IRQHandler
+   Definitions
+      At line 239 in file STM32F10x.s
+   Uses
+      At line 91 in file STM32F10x.s
+      At line 195 in file STM32F10x.s
+
+DMAChannel1_IRQHandler 00000016
+
+Symbol: DMAChannel1_IRQHandler
+   Definitions
+      At line 228 in file STM32F10x.s
+   Uses
+      At line 80 in file STM32F10x.s
+      At line 184 in file STM32F10x.s
+
+DMAChannel2_IRQHandler 00000016
+
+Symbol: DMAChannel2_IRQHandler
+   Definitions
+      At line 229 in file STM32F10x.s
+   Uses
+
+
+
+ARM Macro Assembler    Page 2 Alphabetic symbol ordering
+Relocatable symbols
+
+      At line 81 in file STM32F10x.s
+      At line 185 in file STM32F10x.s
+
+DMAChannel3_IRQHandler 00000016
+
+Symbol: DMAChannel3_IRQHandler
+   Definitions
+      At line 230 in file STM32F10x.s
+   Uses
+      At line 82 in file STM32F10x.s
+      At line 186 in file STM32F10x.s
+
+DMAChannel4_IRQHandler 00000016
+
+Symbol: DMAChannel4_IRQHandler
+   Definitions
+      At line 231 in file STM32F10x.s
+   Uses
+      At line 83 in file STM32F10x.s
+      At line 187 in file STM32F10x.s
+
+DMAChannel5_IRQHandler 00000016
+
+Symbol: DMAChannel5_IRQHandler
+   Definitions
+      At line 232 in file STM32F10x.s
+   Uses
+      At line 84 in file STM32F10x.s
+      At line 188 in file STM32F10x.s
+
+DMAChannel6_IRQHandler 00000016
+
+Symbol: DMAChannel6_IRQHandler
+   Definitions
+      At line 233 in file STM32F10x.s
+   Uses
+      At line 85 in file STM32F10x.s
+      At line 189 in file STM32F10x.s
+
+DMAChannel7_IRQHandler 00000016
+
+Symbol: DMAChannel7_IRQHandler
+   Definitions
+      At line 234 in file STM32F10x.s
+   Uses
+      At line 86 in file STM32F10x.s
+      At line 190 in file STM32F10x.s
+
+DebugMon_Handler 00000010
+
+Symbol: DebugMon_Handler
+   Definitions
+      At line 158 in file STM32F10x.s
+   Uses
+      At line 63 in file STM32F10x.s
+      At line 159 in file STM32F10x.s
+
+Default_Handler 00000016
+
+
+
+
+ARM Macro Assembler    Page 3 Alphabetic symbol ordering
+Relocatable symbols
+
+Symbol: Default_Handler
+   Definitions
+      At line 171 in file STM32F10x.s
+   Uses
+      None
+Comment: Default_Handler unused
+EXTI0_IRQHandler 00000016
+
+Symbol: EXTI0_IRQHandler
+   Definitions
+      At line 223 in file STM32F10x.s
+   Uses
+      At line 75 in file STM32F10x.s
+      At line 179 in file STM32F10x.s
+
+EXTI15_10_IRQHandler 00000016
+
+Symbol: EXTI15_10_IRQHandler
+   Definitions
+      At line 257 in file STM32F10x.s
+   Uses
+      At line 109 in file STM32F10x.s
+      At line 213 in file STM32F10x.s
+
+EXTI1_IRQHandler 00000016
+
+Symbol: EXTI1_IRQHandler
+   Definitions
+      At line 224 in file STM32F10x.s
+   Uses
+      At line 76 in file STM32F10x.s
+      At line 180 in file STM32F10x.s
+
+EXTI2_IRQHandler 00000016
+
+Symbol: EXTI2_IRQHandler
+   Definitions
+      At line 225 in file STM32F10x.s
+   Uses
+      At line 77 in file STM32F10x.s
+      At line 181 in file STM32F10x.s
+
+EXTI3_IRQHandler 00000016
+
+Symbol: EXTI3_IRQHandler
+   Definitions
+      At line 226 in file STM32F10x.s
+   Uses
+      At line 78 in file STM32F10x.s
+      At line 182 in file STM32F10x.s
+
+EXTI4_IRQHandler 00000016
+
+Symbol: EXTI4_IRQHandler
+   Definitions
+      At line 227 in file STM32F10x.s
+   Uses
+      At line 79 in file STM32F10x.s
+      At line 183 in file STM32F10x.s
+
+
+
+ARM Macro Assembler    Page 4 Alphabetic symbol ordering
+Relocatable symbols
+
+
+EXTI9_5_IRQHandler 00000016
+
+Symbol: EXTI9_5_IRQHandler
+   Definitions
+      At line 240 in file STM32F10x.s
+   Uses
+      At line 92 in file STM32F10x.s
+      At line 196 in file STM32F10x.s
+
+FLASH_IRQHandler 00000016
+
+Symbol: FLASH_IRQHandler
+   Definitions
+      At line 221 in file STM32F10x.s
+   Uses
+      At line 73 in file STM32F10x.s
+      At line 177 in file STM32F10x.s
+
+HardFault_Handler 00000006
+
+Symbol: HardFault_Handler
+   Definitions
+      At line 134 in file STM32F10x.s
+   Uses
+      At line 54 in file STM32F10x.s
+      At line 135 in file STM32F10x.s
+
+I2C1_ER_IRQHandler 00000016
+
+Symbol: I2C1_ER_IRQHandler
+   Definitions
+      At line 249 in file STM32F10x.s
+   Uses
+      At line 101 in file STM32F10x.s
+      At line 205 in file STM32F10x.s
+
+I2C1_EV_IRQHandler 00000016
+
+Symbol: I2C1_EV_IRQHandler
+   Definitions
+      At line 248 in file STM32F10x.s
+   Uses
+      At line 100 in file STM32F10x.s
+      At line 204 in file STM32F10x.s
+
+I2C2_ER_IRQHandler 00000016
+
+Symbol: I2C2_ER_IRQHandler
+   Definitions
+      At line 251 in file STM32F10x.s
+   Uses
+      At line 103 in file STM32F10x.s
+      At line 207 in file STM32F10x.s
+
+I2C2_EV_IRQHandler 00000016
+
+Symbol: I2C2_EV_IRQHandler
+   Definitions
+
+
+
+ARM Macro Assembler    Page 5 Alphabetic symbol ordering
+Relocatable symbols
+
+      At line 250 in file STM32F10x.s
+   Uses
+      At line 102 in file STM32F10x.s
+      At line 206 in file STM32F10x.s
+
+MemManage_Handler 00000008
+
+Symbol: MemManage_Handler
+   Definitions
+      At line 139 in file STM32F10x.s
+   Uses
+      At line 55 in file STM32F10x.s
+      At line 140 in file STM32F10x.s
+
+NMI_Handler 00000004
+
+Symbol: NMI_Handler
+   Definitions
+      At line 129 in file STM32F10x.s
+   Uses
+      At line 53 in file STM32F10x.s
+      At line 130 in file STM32F10x.s
+
+PVD_IRQHandler 00000016
+
+Symbol: PVD_IRQHandler
+   Definitions
+      At line 218 in file STM32F10x.s
+   Uses
+      At line 70 in file STM32F10x.s
+      At line 174 in file STM32F10x.s
+
+PendSV_Handler 00000012
+
+Symbol: PendSV_Handler
+   Definitions
+      At line 162 in file STM32F10x.s
+   Uses
+      At line 163 in file STM32F10x.s
+Comment: PendSV_Handler used once
+RCC_IRQHandler 00000016
+
+Symbol: RCC_IRQHandler
+   Definitions
+      At line 222 in file STM32F10x.s
+   Uses
+      At line 74 in file STM32F10x.s
+      At line 178 in file STM32F10x.s
+
+RTCAlarm_IRQHandler 00000016
+
+Symbol: RTCAlarm_IRQHandler
+   Definitions
+      At line 258 in file STM32F10x.s
+   Uses
+      At line 110 in file STM32F10x.s
+      At line 214 in file STM32F10x.s
+
+RTC_IRQHandler 00000016
+
+
+
+ARM Macro Assembler    Page 6 Alphabetic symbol ordering
+Relocatable symbols
+
+
+Symbol: RTC_IRQHandler
+   Definitions
+      At line 220 in file STM32F10x.s
+   Uses
+      At line 72 in file STM32F10x.s
+      At line 176 in file STM32F10x.s
+
+Reset_Handler 00000000
+
+Symbol: Reset_Handler
+   Definitions
+      At line 119 in file STM32F10x.s
+   Uses
+      At line 52 in file STM32F10x.s
+      At line 120 in file STM32F10x.s
+
+S 00000000
+
+Symbol: S
+   Definitions
+      At line 122 in file STM32F10x.s
+   Uses
+      None
+Comment: S unused
+SPI1_IRQHandler 00000016
+
+Symbol: SPI1_IRQHandler
+   Definitions
+      At line 252 in file STM32F10x.s
+   Uses
+      At line 104 in file STM32F10x.s
+      At line 208 in file STM32F10x.s
+
+SPI2_IRQHandler 00000016
+
+Symbol: SPI2_IRQHandler
+   Definitions
+      At line 253 in file STM32F10x.s
+   Uses
+      At line 105 in file STM32F10x.s
+      At line 209 in file STM32F10x.s
+
+SVC_Handler 0000000E
+
+Symbol: SVC_Handler
+   Definitions
+      At line 153 in file STM32F10x.s
+   Uses
+      At line 154 in file STM32F10x.s
+Comment: SVC_Handler used once
+SysTick_Handler 00000014
+
+Symbol: SysTick_Handler
+   Definitions
+      At line 166 in file STM32F10x.s
+   Uses
+      At line 167 in file STM32F10x.s
+Comment: SysTick_Handler used once
+
+
+
+ARM Macro Assembler    Page 7 Alphabetic symbol ordering
+Relocatable symbols
+
+TAMPER_IRQHandler 00000016
+
+Symbol: TAMPER_IRQHandler
+   Definitions
+      At line 219 in file STM32F10x.s
+   Uses
+      At line 71 in file STM32F10x.s
+      At line 175 in file STM32F10x.s
+
+TIM1_BRK_IRQHandler 00000016
+
+Symbol: TIM1_BRK_IRQHandler
+   Definitions
+      At line 241 in file STM32F10x.s
+   Uses
+      At line 93 in file STM32F10x.s
+      At line 197 in file STM32F10x.s
+
+TIM1_CC_IRQHandler 00000016
+
+Symbol: TIM1_CC_IRQHandler
+   Definitions
+      At line 244 in file STM32F10x.s
+   Uses
+      At line 96 in file STM32F10x.s
+      At line 200 in file STM32F10x.s
+
+TIM1_TRG_COM_IRQHandler 00000016
+
+Symbol: TIM1_TRG_COM_IRQHandler
+   Definitions
+      At line 243 in file STM32F10x.s
+   Uses
+      At line 95 in file STM32F10x.s
+      At line 199 in file STM32F10x.s
+
+TIM1_UP_IRQHandler 00000016
+
+Symbol: TIM1_UP_IRQHandler
+   Definitions
+      At line 242 in file STM32F10x.s
+   Uses
+      At line 94 in file STM32F10x.s
+      At line 198 in file STM32F10x.s
+
+TIM2_IRQHandler 00000016
+
+Symbol: TIM2_IRQHandler
+   Definitions
+      At line 245 in file STM32F10x.s
+   Uses
+      At line 97 in file STM32F10x.s
+      At line 201 in file STM32F10x.s
+
+TIM3_IRQHandler 00000016
+
+Symbol: TIM3_IRQHandler
+   Definitions
+      At line 246 in file STM32F10x.s
+
+
+
+ARM Macro Assembler    Page 8 Alphabetic symbol ordering
+Relocatable symbols
+
+   Uses
+      At line 98 in file STM32F10x.s
+      At line 202 in file STM32F10x.s
+
+TIM4_IRQHandler 00000016
+
+Symbol: TIM4_IRQHandler
+   Definitions
+      At line 247 in file STM32F10x.s
+   Uses
+      At line 99 in file STM32F10x.s
+      At line 203 in file STM32F10x.s
+
+USART1_IRQHandler 00000016
+
+Symbol: USART1_IRQHandler
+   Definitions
+      At line 254 in file STM32F10x.s
+   Uses
+      At line 210 in file STM32F10x.s
+Comment: USART1_IRQHandler used once
+USART2_IRQHandler 00000016
+
+Symbol: USART2_IRQHandler
+   Definitions
+      At line 255 in file STM32F10x.s
+   Uses
+      At line 107 in file STM32F10x.s
+      At line 211 in file STM32F10x.s
+
+USART3_IRQHandler 00000016
+
+Symbol: USART3_IRQHandler
+   Definitions
+      At line 256 in file STM32F10x.s
+   Uses
+      At line 108 in file STM32F10x.s
+      At line 212 in file STM32F10x.s
+
+USBWakeUp_IRQHandler 00000016
+
+Symbol: USBWakeUp_IRQHandler
+   Definitions
+      At line 259 in file STM32F10x.s
+   Uses
+      At line 111 in file STM32F10x.s
+      At line 215 in file STM32F10x.s
+
+USB_HP_CAN_TX_IRQHandler 00000016
+
+Symbol: USB_HP_CAN_TX_IRQHandler
+   Definitions
+      At line 236 in file STM32F10x.s
+   Uses
+      At line 88 in file STM32F10x.s
+      At line 192 in file STM32F10x.s
+
+USB_LP_CAN_RX0_IRQHandler 00000016
+
+
+
+
+ARM Macro Assembler    Page 9 Alphabetic symbol ordering
+Relocatable symbols
+
+Symbol: USB_LP_CAN_RX0_IRQHandler
+   Definitions
+      At line 237 in file STM32F10x.s
+   Uses
+      At line 89 in file STM32F10x.s
+      At line 193 in file STM32F10x.s
+
+UsageFault_Handler 0000000C
+
+Symbol: UsageFault_Handler
+   Definitions
+      At line 149 in file STM32F10x.s
+   Uses
+      At line 57 in file STM32F10x.s
+      At line 150 in file STM32F10x.s
+
+WWDG_IRQHandler 00000016
+
+Symbol: WWDG_IRQHandler
+   Definitions
+      At line 217 in file STM32F10x.s
+   Uses
+      At line 69 in file STM32F10x.s
+      At line 173 in file STM32F10x.s
+
+56 symbols
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+Absolute symbols
+
+Heap_Size 00000000
+
+Symbol: Heap_Size
+   Definitions
+      At line 29 in file STM32F10x.s
+   Uses
+      At line 33 in file STM32F10x.s
+Comment: Heap_Size used once
+Stack_Size 00000200
+
+Symbol: Stack_Size
+   Definitions
+      At line 18 in file STM32F10x.s
+   Uses
+      At line 21 in file STM32F10x.s
+Comment: Stack_Size used once
+2 symbols
+
+
+
+ARM Macro Assembler    Page 1 Alphabetic symbol ordering
+External symbols
+
+__main 00000000
+
+Symbol: __main
+   Definitions
+      At line 121 in file STM32F10x.s
+   Uses
+      At line 122 in file STM32F10x.s
+Comment: __main used once
+vPortSVCHandler 00000000
+
+Symbol: vPortSVCHandler
+   Definitions
+      At line 38 in file STM32F10x.s
+   Uses
+      At line 62 in file STM32F10x.s
+Comment: vPortSVCHandler used once
+vUARTInterruptHandler 00000000
+
+Symbol: vUARTInterruptHandler
+   Definitions
+      At line 39 in file STM32F10x.s
+   Uses
+      At line 106 in file STM32F10x.s
+Comment: vUARTInterruptHandler used once
+xPortPendSVHandler 00000000
+
+Symbol: xPortPendSVHandler
+   Definitions
+      At line 36 in file STM32F10x.s
+   Uses
+      At line 65 in file STM32F10x.s
+Comment: xPortPendSVHandler used once
+xPortSysTickHandler 00000000
+
+Symbol: xPortSysTickHandler
+   Definitions
+      At line 37 in file STM32F10x.s
+   Uses
+      At line 66 in file STM32F10x.s
+Comment: xPortSysTickHandler used once
+5 symbols
+407 symbols in table
diff --git a/stm32f10x.o b/stm32f10x.o
new file mode 100644
index 0000000..0e3c715
Binary files /dev/null and b/stm32f10x.o differ
diff --git a/stm32f10x_conf.h b/stm32f10x_conf.h
new file mode 100644
index 0000000..5537c25
--- /dev/null
+++ b/stm32f10x_conf.h
@@ -0,0 +1,137 @@
+/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
+* File Name          : stm32f10x_conf.h
+* Author             : MCD Application Team
+* Date First Issued  : 09/29/2006
+* Description        : Library configuration file.
+********************************************************************************
+* History:
+* mm/dd/yyyy: V0.1
+* 09/29/2006: V0.01
+********************************************************************************
+* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
+* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
+* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
+* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
+* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+*******************************************************************************/
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F10x_CONF_H
+#define __STM32F10x_CONF_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f10x_type.h"
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Comment the line below to compile the library in release mode */
+//#define DEBUG
+
+/* Comment the line below to disable the specific peripheral inclusion */
+/************************************* ADC ************************************/
+//#define _ADC
+//#define _ADC1
+//#define _ADC2
+
+/************************************* CAN ************************************/
+//#define _CAN
+
+/************************************* DMA ************************************/
+//#define _DMA
+//#define _DMA_Channel1
+//#define _DMA_Channel2
+//#define _DMA_Channel3
+//#define _DMA_Channel4
+//#define _DMA_Channel5
+//#define _DMA_Channel6
+//#define _DMA_Channel7
+
+/************************************* EXTI ***********************************/
+#define _EXTI
+
+/************************************* GPIO ***********************************/
+#define _GPIO
+#define _GPIOA
+#define _GPIOB
+#define _GPIOC
+#define _GPIOD
+#define _GPIOE
+#define _AFIO
+
+/************************************* I2C ************************************/
+//#define _I2C
+//#define _I2C1
+//#define _I2C2
+
+/************************************* IWDG ***********************************/
+//#define _IWDG
+
+/************************************* NVIC ***********************************/
+#define _NVIC
+#define _SCB
+
+/************************************* BKP ************************************/
+//#define _BKP
+
+/************************************* PWR ************************************/
+//#define _PWR
+
+/************************************* RCC ************************************/
+#define _RCC
+
+/************************************* RTC ************************************/
+//#define _RTC
+
+/************************************* SPI ************************************/
+#define _SPI
+#define _SPI1
+#define _SPI2
+
+/************************************* SysTick ********************************/
+#define _SysTick
+
+/************************************* TIM ************************************/
+//#define _TIM
+#define _TIM2
+#define _TIM3
+//#define _TIM4
+
+/************************************* USART **********************************/
+#define _USART
+#define _USART1
+//#define _USART2
+//#define _USART3
+
+/************************************* WWDG ***********************************/
+//#define _WWDG
+
+/* In the following line adjust the value of External High Speed oscillator (HSE)
+   used in your application */
+#define HSE_Value    ((u32)8000000)   /* Value of the External oscillator in Hz*/
+
+/* Exported macro ------------------------------------------------------------*/
+#undef assert
+#ifdef  DEBUG
+/*******************************************************************************
+* Macro Name     : assert
+* Description    : The assert macro is used for function's parameters check.
+*                  It is used only if the library is compiled in DEBUG mode.
+* Input          : - expr: If expr is false, it calls assert_failed function
+*                    which reports the name of the source file and the source
+*                    line number of the call that failed.
+*                    If expr is true, it returns no value.
+* Return         : None
+*******************************************************************************/
+  #define assert(expr) ((expr) ? (void)0 : assert_failed(__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(u8* file, u32 line);
+#else
+  #define assert(expr) ((void)0)
+#endif /* DEBUG */
+
+/* Exported functions ------------------------------------------------------- */
+
+#endif /* __STM32F10x_CONF_H */
+
+/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/
diff --git a/stm32f10x_gpio.crf b/stm32f10x_gpio.crf
new file mode 100644
index 0000000..00b9fbb
Binary files /dev/null and b/stm32f10x_gpio.crf differ
diff --git a/stm32f10x_gpio.d b/stm32f10x_gpio.d
new file mode 100644
index 0000000..605d1d1
--- /dev/null
+++ b/stm32f10x_gpio.d
@@ -0,0 +1,7 @@
+.\stm32f10x_gpio.o: STM32F10xFWLib\src\stm32f10x_gpio.c
+.\stm32f10x_gpio.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\stm32f10x_gpio.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_gpio.o: .\stm32f10x_conf.h
+.\stm32f10x_gpio.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_gpio.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\stm32f10x_gpio.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
diff --git a/stm32f10x_gpio.o b/stm32f10x_gpio.o
new file mode 100644
index 0000000..23c6130
Binary files /dev/null and b/stm32f10x_gpio.o differ
diff --git a/stm32f10x_lib.crf b/stm32f10x_lib.crf
new file mode 100644
index 0000000..9f4437a
Binary files /dev/null and b/stm32f10x_lib.crf differ
diff --git a/stm32f10x_lib.d b/stm32f10x_lib.d
new file mode 100644
index 0000000..70dbab6
--- /dev/null
+++ b/stm32f10x_lib.d
@@ -0,0 +1,13 @@
+.\stm32f10x_lib.o: STM32F10xFWLib\src\stm32f10x_lib.c
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_lib.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_lib.o: .\stm32f10x_conf.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_exti.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_gpio.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_nvic.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_spi.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_systick.h
+.\stm32f10x_lib.o: .\STM32F10xFWLib\inc\stm32f10x_usart.h
diff --git a/stm32f10x_lib.o b/stm32f10x_lib.o
new file mode 100644
index 0000000..4c6039f
Binary files /dev/null and b/stm32f10x_lib.o differ
diff --git a/stm32f10x_nvic.crf b/stm32f10x_nvic.crf
new file mode 100644
index 0000000..2806cf2
Binary files /dev/null and b/stm32f10x_nvic.crf differ
diff --git a/stm32f10x_nvic.d b/stm32f10x_nvic.d
new file mode 100644
index 0000000..05d17f5
--- /dev/null
+++ b/stm32f10x_nvic.d
@@ -0,0 +1,6 @@
+.\stm32f10x_nvic.o: STM32F10xFWLib\src\stm32f10x_nvic.c
+.\stm32f10x_nvic.o: .\STM32F10xFWLib\inc\stm32f10x_nvic.h
+.\stm32f10x_nvic.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_nvic.o: .\stm32f10x_conf.h
+.\stm32f10x_nvic.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_nvic.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
diff --git a/stm32f10x_nvic.o b/stm32f10x_nvic.o
new file mode 100644
index 0000000..66cb87c
Binary files /dev/null and b/stm32f10x_nvic.o differ
diff --git a/stm32f10x_rcc.crf b/stm32f10x_rcc.crf
new file mode 100644
index 0000000..b535670
Binary files /dev/null and b/stm32f10x_rcc.crf differ
diff --git a/stm32f10x_rcc.d b/stm32f10x_rcc.d
new file mode 100644
index 0000000..12f5601
--- /dev/null
+++ b/stm32f10x_rcc.d
@@ -0,0 +1,6 @@
+.\stm32f10x_rcc.o: STM32F10xFWLib\src\stm32f10x_rcc.c
+.\stm32f10x_rcc.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
+.\stm32f10x_rcc.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_rcc.o: .\stm32f10x_conf.h
+.\stm32f10x_rcc.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_rcc.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
diff --git a/stm32f10x_rcc.o b/stm32f10x_rcc.o
new file mode 100644
index 0000000..ef685c7
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diff --git a/stm32f10x_spi.crf b/stm32f10x_spi.crf
new file mode 100644
index 0000000..0d33fea
Binary files /dev/null and b/stm32f10x_spi.crf differ
diff --git a/stm32f10x_spi.d b/stm32f10x_spi.d
new file mode 100644
index 0000000..c81f069
--- /dev/null
+++ b/stm32f10x_spi.d
@@ -0,0 +1,7 @@
+.\stm32f10x_spi.o: STM32F10xFWLib\src\stm32f10x_spi.c
+.\stm32f10x_spi.o: .\STM32F10xFWLib\inc\stm32f10x_spi.h
+.\stm32f10x_spi.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_spi.o: .\stm32f10x_conf.h
+.\stm32f10x_spi.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_spi.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\stm32f10x_spi.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
diff --git a/stm32f10x_spi.o b/stm32f10x_spi.o
new file mode 100644
index 0000000..58017d4
Binary files /dev/null and b/stm32f10x_spi.o differ
diff --git a/stm32f10x_systick.crf b/stm32f10x_systick.crf
new file mode 100644
index 0000000..d5ab8f5
Binary files /dev/null and b/stm32f10x_systick.crf differ
diff --git a/stm32f10x_systick.d b/stm32f10x_systick.d
new file mode 100644
index 0000000..6d516c7
--- /dev/null
+++ b/stm32f10x_systick.d
@@ -0,0 +1,6 @@
+.\stm32f10x_systick.o: STM32F10xFWLib\src\stm32f10x_systick.c
+.\stm32f10x_systick.o: .\STM32F10xFWLib\inc\stm32f10x_systick.h
+.\stm32f10x_systick.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_systick.o: .\stm32f10x_conf.h
+.\stm32f10x_systick.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_systick.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
diff --git a/stm32f10x_systick.o b/stm32f10x_systick.o
new file mode 100644
index 0000000..55b1412
Binary files /dev/null and b/stm32f10x_systick.o differ
diff --git a/stm32f10x_tim.crf b/stm32f10x_tim.crf
new file mode 100644
index 0000000..61239e4
Binary files /dev/null and b/stm32f10x_tim.crf differ
diff --git a/stm32f10x_tim.d b/stm32f10x_tim.d
new file mode 100644
index 0000000..6013907
--- /dev/null
+++ b/stm32f10x_tim.d
@@ -0,0 +1,7 @@
+.\stm32f10x_tim.o: STM32F10xFWLib\src\stm32f10x_tim.c
+.\stm32f10x_tim.o: .\STM32F10xFWLib\inc\stm32f10x_tim.h
+.\stm32f10x_tim.o: .\STM32F10xFWLib\inc\stm32f10x_map.h
+.\stm32f10x_tim.o: .\stm32f10x_conf.h
+.\stm32f10x_tim.o: .\STM32F10xFWLib\inc\stm32f10x_type.h
+.\stm32f10x_tim.o: .\STM32F10xFWLib\inc\cortexm3_macro.h
+.\stm32f10x_tim.o: .\STM32F10xFWLib\inc\stm32f10x_rcc.h
diff --git a/stm32f10x_tim.o b/stm32f10x_tim.o
new file mode 100644
index 0000000..410889d
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